files from rover

rover/boot.py

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+# This file is executed on every boot (including wake-boot from deepsleep)
+import esp
+
+esp.osdebug(None)
+#import webrepl
+#webrepl.start()
+
+import main  # noqa: F401

rover/driver.py

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+from machine import PWM, Pin
+
+FREQ = 200
+DUTY = 0
+
+DIR_M1 = Pin(16, Pin.OUT)
+DIR_M2 = Pin(13, Pin.OUT)
+PWM_M1 = PWM(Pin(15, Pin.OUT), freq=FREQ, duty_u16=DUTY)
+PWM_M2 = PWM(Pin(14, Pin.OUT), freq=FREQ, duty_u16=DUTY)
+
+def calcDuty(percentage):
+    return int(65535/100 * percentage)
+
+def runM1(DIR, speed):
+    DIR_M1.value(DIR)
+    PWM_M1.duty_u16(calcDuty(speed))
+
+def runM2(DIR, speed):
+    DIR_M2.value(DIR)
+    PWM_M2.duty_u16(calcDuty(speed))
+
+def parseSpeed(speed) -> int:
+    speed = str(speed)
+    if speed.isdigit():
+        speed = int(speed)
+        if speed <= 100:
+            return speed
+        elif speed > 100:
+            return 100
+    else:
+        return 0
+
+def forward(speed):
+    print("for", parseSpeed(speed))
+def backward(speed):
+    print("back", parseSpeed(speed))
+def right(speed):
+    print("r", parseSpeed(speed))
+def left(speed):
+    print("l", parseSpeed(speed))
+def rMotor(speed):
+    #print("rMotor", parseSpeed(speed))
+    runM1(0, parseSpeed(speed))
+def lMotor(speed):
+    #print("lMotor", parseSpeed(speed))  
+    runM2(1, parseSpeed(speed))
+
+def stop():
+    rMotor(0)
+    lMotor(0)
+
+def execute(cmd, speed):
+    if cmd == "forward":  forward(speed)
+    if cmd == "backward": backward(speed)
+    if cmd == "right":    right(speed)
+    if cmd == "left":     left(speed)
+    if cmd == "rmotor":   rMotor(speed)
+    if cmd == "lmotor":   lMotor(speed)

rover/main.py

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+import socket
+
+import driver
+
+debug = True
+platform = None
+
+UDP_IP = "0.0.0.0"
+UDP_PORT = 7913
+
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
+sock.bind((UDP_IP, UDP_PORT))
+
+try:
+    import network
+
+    platform = "ESP"
+    ap = network.WLAN(network.AP_IF) # create access-point interface
+    ap.config(ssid="RoverNumber1", password="qwerty123456", authmode=3, max_clients=1)
+    ap.active(True)
+    print("Send packets to this IP:", ap.ifconfig()[2]) # Show IP
+except Exception as e:
+    platform = "PC"
+    hostname = socket.gethostname()
+    ip = socket.gethostbyname(hostname)
+    print(e, "= not on ESP, use this IP if external", ip, "otherwise use localhost")
+
+while True:
+    data, addr = sock.recvfrom(32)
+    size = len(data)
+    data = data.decode().split()
+    if data[0] == "0":
+        driver.stop()
+    if len(data) == 2:
+        cmd, speed = data
+        if platform == "ESP":
+            driver.execute(cmd, speed)
+    if debug:
+        print(f"{addr} bytes={size}: {data}")
+