Chapter 9

ch-9/4-teleop/teleop.py

@@ -0,0 +1,61 @@
+# .deploy/send-it.sh \
+#   ch-9/4-teleop/sensor_remote.py \
+#   ch-9/4-teleop/robot_wifi.py \
+#   ch-9/4-teleop/robot.py \
+#   ch-9/4-teleop/pio_encoder.py \
+#   ch-9/4-teleop/sensor.html
+import json
+import time
+
+from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
+from adafruit_wsgi.wsgi_app import WSGIApp
+
+import robot_wifi
+import robot
+
+app = WSGIApp()
+
+class State:
+  stop_at = 0
+
+state = State()
+
+@app.route("/")
+def index(request):
+  with open("teleop.html") as fd:
+    hello_html = fd.read()
+  return 200, [('Content-Type',"text/html")], hello_html
+
+@app.route("/move", methods=["POST"])
+def movement(request):
+  movement = json.loads(request.body)
+  robot.set_left(movement['y'] + movement['x'])
+  robot.set_right(movement['y'] - movement['x'])
+  state.stop_at = time.time() + 1
+
+print("Setting up wifi.")
+wifi, esp = robot_wifi.connect_to_wifi()
+server = adafruit_esp32spi_wsgiserver.WSGIServer(
+  80,
+  application=app 
+)
+adafruit_esp32spi_wsgiserver.set_interface(esp)
+
+print("Starting server")
+
+server.start()
+ip_int = ".".join(str(int(n)) for n in esp.ip_address)
+print(f"IP Address is {ip_int}")
+while True:
+    try:
+        server.update_poll()
+        # background task
+        if state.stop_at < time.time():
+          robot.stop()
+    except:
+        print("Shutting down wifi on failure. resetting ESP")
+        wifi.reset()
+        raise
+
+# Reader exercise
+# Can you combine the sensors and the control app? Can you think about how to control it using the sensors for feedback.