Chapter 9
This commit is contained in:
Danny Staple
parent
92e3829085
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878b50fb65
32
ch-9/1-wifi-basics/connect_and_fetch.py
Normal file
32
ch-9/1-wifi-basics/connect_and_fetch.py
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@ -0,0 +1,32 @@
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import board
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import busio
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from digitalio import DigitalInOut
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from adafruit_esp32spi import adafruit_esp32spi
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from adafruit_esp32spi import adafruit_esp32spi_wifimanager
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try:
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from secrets import secrets
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except ImportError:
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print("WiFi secrets are kept in secrets.py, please add them there!")
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raise
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esp32_cs = DigitalInOut(board.GP10)
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esp32_ready = DigitalInOut(board.GP9)
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esp32_reset = DigitalInOut(board.GP8)
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spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
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esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
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status_led = DigitalInOut(board.LED)
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status_led.switch_to_output()
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wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
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status_led.value = 1
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print("Connected. Making connection")
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try:
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response = wifi.get("https://api.ipify.org")
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print(response.text)
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except:
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status_led.value = 0
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wifi.reset()
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raise
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27
ch-9/1-wifi-basics/simpler.py
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27
ch-9/1-wifi-basics/simpler.py
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import board
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import busio
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from digitalio import DigitalInOut
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from adafruit_esp32spi import adafruit_esp32spi
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import time
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print("ESP32 SPI hardware test")
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esp32_cs = DigitalInOut(board.GP10)
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esp32_ready = DigitalInOut(board.GP9)
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esp32_reset = DigitalInOut(board.GP8)
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spi = busio.SPI(board.GP14, board.GP11, board.GP12)
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esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
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if esp.status == adafruit_esp32spi.WL_IDLE_STATUS:
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print("ESP32 found and in idle mode")
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print("Firmware vers.", esp.firmware_version)
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print("MAC addr:", [hex(i) for i in esp.MAC_address])
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# esp.start_scan_networks()
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# time.sleep(5)
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for ap in esp.scan_networks():
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print("\t%s\t\tRSSI: %d" % (str(ap['ssid'], 'utf-8'), ap['rssi']))
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print("Done!")
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4
ch-9/2-hello-world/hello.html
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4
ch-9/2-hello-world/hello.html
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<!DOCTYPE html>
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<meta charset="utf-8">
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<h1>Hello</h1>
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<p>World</p>
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34
ch-9/2-hello-world/hello_from_file.py
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34
ch-9/2-hello-world/hello_from_file.py
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import robot_wifi
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from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
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from adafruit_wsgi.wsgi_app import WSGIApp
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app = WSGIApp()
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@app.route("/")
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def index(request):
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with open("hello.html") as fd:
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hello_html = fd.read()
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return 200, [('Content-Type',"text/html")], hello_html
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print("Setting up wifi.")
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wifi, esp = robot_wifi.connect_to_wifi()
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server = adafruit_esp32spi_wsgiserver.WSGIServer(
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80,
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application=app
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)
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adafruit_esp32spi_wsgiserver.set_interface(esp)
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print("Starting server")
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server.start()
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ip_int = ".".join(str(int(n)) for n in esp.ip_address)
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print(f"IP Address is {ip_int}")
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while True:
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try:
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server.update_poll()
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# background task
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except:
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print("Shutting down wifi on failure. resetting ESP")
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wifi.reset()
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raise
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32
ch-9/2-hello-world/hello_server.py
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32
ch-9/2-hello-world/hello_server.py
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import robot_wifi
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from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
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from adafruit_wsgi.wsgi_app import WSGIApp
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app = WSGIApp()
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@app.route("/")
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def index(request):
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return 200, [], "Hello world!"
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print("Setting up wifi.")
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wifi, esp = robot_wifi.connect_to_wifi()
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server = adafruit_esp32spi_wsgiserver.WSGIServer(
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80,
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application=app
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)
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adafruit_esp32spi_wsgiserver.set_interface(esp)
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print("Starting server")
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server.start()
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ip_int = ".".join(str(int(n)) for n in esp.ip_address)
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print(f"IP Address is {ip_int}")
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while True:
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try:
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server.update_poll()
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# background task
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except:
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print("Shutting down wifi on failure. resetting ESP")
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wifi.reset()
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raise
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25
ch-9/2-hello-world/robot_wifi.py
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25
ch-9/2-hello-world/robot_wifi.py
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import board
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import busio
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from digitalio import DigitalInOut
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from adafruit_esp32spi import adafruit_esp32spi
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from adafruit_esp32spi import adafruit_esp32spi_wifimanager
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try:
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from secrets import secrets
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except ImportError:
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print("WiFi secrets are kept in secrets.py, please add them there!")
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raise
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def connect_to_wifi():
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esp32_cs = DigitalInOut(board.GP10)
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esp32_ready = DigitalInOut(board.GP9)
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esp32_reset = DigitalInOut(board.GP8)
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spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
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esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
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esp.reset()
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wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
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wifi.connect()
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return wifi, esp
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77
ch-9/3-sensors/pio_encoder.py
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77
ch-9/3-sensors/pio_encoder.py
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import rp2pio
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import adafruit_pioasm
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import array
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program = """
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; use the osr for count
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; input pins c1 c2
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set y, 0 ; clear y
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mov osr, y ; and clear osr
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read:
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; x will be the old value
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; y the new values
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mov x, y ; store old Y in x
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in null, 32 ; Clear ISR - using y
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in pins, 2 ; read two pins into y
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mov y, isr
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jmp x!=y, different ; Jump if its different
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jmp read ; otherwise loop back to read
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different:
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; x has old value, y has new.
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; extract the upper bit of X.
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in x, 31 ; get bit 31 - old p1 (remember which direction it came in)
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in null, 31 ; keep only 1 bit
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mov x, isr ; put this back in x
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jmp !x, c1_old_zero
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c1_old_not_zero:
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jmp pin, count_up
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jmp count_down
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c1_old_zero:
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jmp pin, count_down
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; fall through
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count_up:
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; for a clockwise move - we'll add 1 by inverting
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mov x, ~ osr ; store inverted OSR on x
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jmp x--, fake ; use jump to take off 1
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fake:
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mov x, ~ x ; invert back
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jmp send
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count_down:
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; for a clockwise move, just take one off
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mov x, osr ; store osr in x
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jmp x--, send ; dec and send
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send:
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; send x.
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mov isr, x ; send it
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push noblock ; put ISR into input FIFO
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mov osr, x ; put X back in OSR
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jmp read ; loop back
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"""
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assembled = adafruit_pioasm.assemble(program)
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class QuadratureEncoder:
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def __init__(self, first_pin, second_pin, reversed=False):
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"""Encoder with 2 pins. Must use sequential pins on the board"""
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self.sm = rp2pio.StateMachine(
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assembled,
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frequency=0,
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first_in_pin=first_pin,
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jmp_pin=second_pin,
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in_pin_count=2
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)
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self.reversed = reversed
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self._buffer = array.array('i', [0])
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def read(self):
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while self.sm.in_waiting:
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self.sm.readinto(self._buffer)
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if self.reversed:
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return -self._buffer[0]
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else:
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return self._buffer[0]
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50
ch-9/3-sensors/robot.py
Executable file
50
ch-9/3-sensors/robot.py
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import board
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import pwmio
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import pio_encoder
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import busio
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import adafruit_vl53l1x
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motor_A1 = pwmio.PWMOut(board.GP17)
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motor_A2 = pwmio.PWMOut(board.GP16)
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motor_B1 = pwmio.PWMOut(board.GP18)
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motor_B2 = pwmio.PWMOut(board.GP19)
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right_motor = motor_A1, motor_A2
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left_motor = motor_B1, motor_B2
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right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
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left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
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i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
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i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
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left_distance = adafruit_vl53l1x.VL53L1X(i2c1)
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right_distance = adafruit_vl53l1x.VL53L1X(i2c0)
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def stop():
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motor_A1.duty_cycle = 0
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motor_A2.duty_cycle = 0
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motor_B1.duty_cycle = 0
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motor_B2.duty_cycle = 0
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def set_speed(motor, speed):
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# Swap motor pins if we reverse the speed
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if speed < 0:
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direction = motor[1], motor[0]
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speed = -speed
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else:
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direction = motor
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speed = min(speed, 1) # limit to 1.0
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max_speed = 2**16-1
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direction[0].duty_cycle = int(max_speed * speed)
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direction[1].duty_cycle = 0
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def set_left(speed):
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set_speed(left_motor, speed)
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def set_right(speed):
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set_speed(right_motor, speed)
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25
ch-9/3-sensors/robot_wifi.py
Normal file
25
ch-9/3-sensors/robot_wifi.py
Normal file
@ -0,0 +1,25 @@
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import board
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import busio
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from digitalio import DigitalInOut
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from adafruit_esp32spi import adafruit_esp32spi
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from adafruit_esp32spi import adafruit_esp32spi_wifimanager
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try:
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from secrets import secrets
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except ImportError:
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print("WiFi secrets are kept in secrets.py, please add them there!")
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raise
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def connect_to_wifi():
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esp32_cs = DigitalInOut(board.GP10)
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esp32_ready = DigitalInOut(board.GP9)
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esp32_reset = DigitalInOut(board.GP8)
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spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
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esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
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esp.reset()
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wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
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wifi.connect()
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return wifi, esp
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17
ch-9/3-sensors/sensor.html
Normal file
17
ch-9/3-sensors/sensor.html
Normal file
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<!DOCTYPE html>
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<svg id="graph" height="200" width="450"></svg>
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<script src="https://d3js.org/d3.v5.js"></script>
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<script>
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var svg = d3.select("svg#graph");
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svg.append("text")
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.attr("id", "left_dist")
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.attr("x", 0)
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.attr("y", 20)
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.text("--");
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d3.json("sensors").then(function(data) {
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d3.select("#left_dist").text(data['left_distance'])
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});
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</script>
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61
ch-9/3-sensors/sensor_remote.py
Normal file
61
ch-9/3-sensors/sensor_remote.py
Normal file
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# .deploy/send-it.sh \
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# ch-9/3-sensors/sensor_remote.py \
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# ch-9/3-sensors/robot_wifi.py \
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# ch-9/3-sensors/robot.py \
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# ch-9/3-sensors/pio_encoder.py \
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# ch-9/3-sensors/sensor.html
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import json
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from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
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from adafruit_wsgi.wsgi_app import WSGIApp
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import robot_wifi
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import robot
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app = WSGIApp()
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@app.route("/")
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def index(request):
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with open("sensor.html") as fd:
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hello_html = fd.read()
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return 200, [('Content-Type',"text/html")], hello_html
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@app.route("/sensors")
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def sensors(request):
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sensor_data = {
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"left_distance": robot.left_distance.distance,
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}
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robot.left_distance.clear_interrupt()
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return 200, [('Content-Type', 'application/json')], json.dumps({sensor_data})
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print("Setting up wifi.")
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wifi, esp = robot_wifi.connect_to_wifi()
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server = adafruit_esp32spi_wsgiserver.WSGIServer(
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80,
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application=app
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)
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adafruit_esp32spi_wsgiserver.set_interface(esp)
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print("Initialising sensors")
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robot.left_distance.distance_mode = 1
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robot.left_distance.start_ranging()
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print("Starting server")
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server.start()
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ip_int = ".".join(str(int(n)) for n in esp.ip_address)
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print(f"IP Address is {ip_int}")
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while True:
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try:
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server.update_poll()
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# background task
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except:
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print("Shutting down wifi on failure. resetting ESP")
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wifi.reset()
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raise
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# Reader exercise
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# add the right distance to the distance sensor remote. Consider where to position the meter for this, how to return both sensors in
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# the sensors call. Don't forget to clear the interrupt to get new readings.
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77
ch-9/4-teleop/pio_encoder.py
Normal file
77
ch-9/4-teleop/pio_encoder.py
Normal file
@ -0,0 +1,77 @@
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import rp2pio
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import adafruit_pioasm
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import array
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program = """
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; use the osr for count
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; input pins c1 c2
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||||
|
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set y, 0 ; clear y
|
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mov osr, y ; and clear osr
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read:
|
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; x will be the old value
|
||||
; y the new values
|
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mov x, y ; store old Y in x
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in null, 32 ; Clear ISR - using y
|
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in pins, 2 ; read two pins into y
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mov y, isr
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jmp x!=y, different ; Jump if its different
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jmp read ; otherwise loop back to read
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|
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different:
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; x has old value, y has new.
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; extract the upper bit of X.
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in x, 31 ; get bit 31 - old p1 (remember which direction it came in)
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in null, 31 ; keep only 1 bit
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mov x, isr ; put this back in x
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jmp !x, c1_old_zero
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c1_old_not_zero:
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jmp pin, count_up
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jmp count_down
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c1_old_zero:
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jmp pin, count_down
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; fall through
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count_up:
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; for a clockwise move - we'll add 1 by inverting
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mov x, ~ osr ; store inverted OSR on x
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jmp x--, fake ; use jump to take off 1
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fake:
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mov x, ~ x ; invert back
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jmp send
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count_down:
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; for a clockwise move, just take one off
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mov x, osr ; store osr in x
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jmp x--, send ; dec and send
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send:
|
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; send x.
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mov isr, x ; send it
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||||
push noblock ; put ISR into input FIFO
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||||
mov osr, x ; put X back in OSR
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||||
jmp read ; loop back
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||||
"""
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||||
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assembled = adafruit_pioasm.assemble(program)
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class QuadratureEncoder:
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def __init__(self, first_pin, second_pin, reversed=False):
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||||
"""Encoder with 2 pins. Must use sequential pins on the board"""
|
||||
self.sm = rp2pio.StateMachine(
|
||||
assembled,
|
||||
frequency=0,
|
||||
first_in_pin=first_pin,
|
||||
jmp_pin=second_pin,
|
||||
in_pin_count=2
|
||||
)
|
||||
self.reversed = reversed
|
||||
self._buffer = array.array('i', [0])
|
||||
|
||||
def read(self):
|
||||
while self.sm.in_waiting:
|
||||
self.sm.readinto(self._buffer)
|
||||
if self.reversed:
|
||||
return -self._buffer[0]
|
||||
else:
|
||||
return self._buffer[0]
|
||||
|
||||
50
ch-9/4-teleop/robot.py
Executable file
50
ch-9/4-teleop/robot.py
Executable file
@ -0,0 +1,50 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
|
||||
|
||||
motor_A1 = pwmio.PWMOut(board.GP17)
|
||||
motor_A2 = pwmio.PWMOut(board.GP16)
|
||||
motor_B1 = pwmio.PWMOut(board.GP18)
|
||||
motor_B2 = pwmio.PWMOut(board.GP19)
|
||||
|
||||
right_motor = motor_A1, motor_A2
|
||||
left_motor = motor_B1, motor_B2
|
||||
|
||||
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
|
||||
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
|
||||
|
||||
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
|
||||
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
|
||||
|
||||
left_distance = adafruit_vl53l1x.VL53L1X(i2c1)
|
||||
right_distance = adafruit_vl53l1x.VL53L1X(i2c0)
|
||||
|
||||
|
||||
def stop():
|
||||
motor_A1.duty_cycle = 0
|
||||
motor_A2.duty_cycle = 0
|
||||
motor_B1.duty_cycle = 0
|
||||
motor_B2.duty_cycle = 0
|
||||
|
||||
def set_speed(motor, speed):
|
||||
# Swap motor pins if we reverse the speed
|
||||
if speed < 0:
|
||||
direction = motor[1], motor[0]
|
||||
speed = -speed
|
||||
else:
|
||||
direction = motor
|
||||
speed = min(speed, 1) # limit to 1.0
|
||||
max_speed = 2**16-1
|
||||
|
||||
|
||||
direction[0].duty_cycle = int(max_speed * speed)
|
||||
direction[1].duty_cycle = 0
|
||||
|
||||
def set_left(speed):
|
||||
set_speed(left_motor, speed)
|
||||
|
||||
def set_right(speed):
|
||||
set_speed(right_motor, speed)
|
||||
25
ch-9/4-teleop/robot_wifi.py
Normal file
25
ch-9/4-teleop/robot_wifi.py
Normal file
@ -0,0 +1,25 @@
|
||||
import board
|
||||
import busio
|
||||
from digitalio import DigitalInOut
|
||||
from adafruit_esp32spi import adafruit_esp32spi
|
||||
from adafruit_esp32spi import adafruit_esp32spi_wifimanager
|
||||
|
||||
try:
|
||||
from secrets import secrets
|
||||
except ImportError:
|
||||
print("WiFi secrets are kept in secrets.py, please add them there!")
|
||||
raise
|
||||
|
||||
|
||||
def connect_to_wifi():
|
||||
esp32_cs = DigitalInOut(board.GP10)
|
||||
esp32_ready = DigitalInOut(board.GP9)
|
||||
esp32_reset = DigitalInOut(board.GP8)
|
||||
|
||||
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
|
||||
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
|
||||
esp.reset()
|
||||
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
|
||||
wifi.connect()
|
||||
|
||||
return wifi, esp
|
||||
48
ch-9/4-teleop/teleop.html
Normal file
48
ch-9/4-teleop/teleop.html
Normal file
@ -0,0 +1,48 @@
|
||||
<!DOCTYPE html>
|
||||
|
||||
<meta charset="utf-8">
|
||||
|
||||
<svg id="graph" height="200" width="450"></svg>
|
||||
|
||||
<script src="https://d3js.org/d3.v5.js"></script>
|
||||
<script>
|
||||
var svg = d3.select("svg#graph").append("circle")
|
||||
.attr("id", "button")
|
||||
.attr("cx", 100)
|
||||
.attr("cy", 100)
|
||||
.attr("r", 50)
|
||||
.attr("fill", "green");
|
||||
var circle = d3.select("#button");
|
||||
|
||||
function circle_to_relative(point) {
|
||||
return [
|
||||
(point[0] - circle.attr("cx")) / circle.attr("r"),
|
||||
(point[1] - circle.attr("cy")) / circle.attr("r")
|
||||
]
|
||||
}
|
||||
|
||||
function move_robot(point) {
|
||||
d3.json("/control", {
|
||||
method:"POST",
|
||||
body: JSON.stringify({
|
||||
"move": point
|
||||
}),
|
||||
headers: {
|
||||
"Content-type": "application/json; charset=UTF-8"
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
function stop() {
|
||||
move_robot([0, 0]);
|
||||
}
|
||||
|
||||
circle.on("pointermove", function() {
|
||||
if(d3.event.buttons == 1) {
|
||||
move_robot(circle_to_relative(d3.mouse(this)));
|
||||
}
|
||||
})
|
||||
.on("mouseup", stop)
|
||||
.on("mouseout", stop);
|
||||
|
||||
</script>
|
||||
61
ch-9/4-teleop/teleop.py
Normal file
61
ch-9/4-teleop/teleop.py
Normal file
@ -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.
|
||||
Loading…
x
Reference in New Issue
Block a user