Iterating for better ch9 code.

ch-9/4-teleop/teleop.py

@@ -1,11 +1,7 @@
-# .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 digitalio import DigitalInOut
+import board
 
 from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
 from adafruit_wsgi.wsgi_app import WSGIApp
@@ -24,16 +20,24 @@ state = State()
 def index(request):
   with open("teleop.html") as fd:
     hello_html = fd.read()
-  return 200, [('Content-Type',"text/html")], hello_html
+  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'])
+@app.route("/control", methods=["POST"])
+def control(request):
+  movement = json.load(request.body)
+  print(f"Received movement: {movement}")
+
+  robot.set_left(-movement[1] + movement[0])
+  robot.set_right(-movement[1] - movement[0])
   state.stop_at = time.time() + 1
+  return 200, [('Content-Type',"application/json")], ["true"]
 
 print("Setting up wifi.")
+status_led = DigitalInOut(board.LED)
+status_led.switch_to_output()
+status_led.value = False
+
+
 wifi, esp = robot_wifi.connect_to_wifi()
 server = adafruit_esp32spi_wsgiserver.WSGIServer(
   80,
@@ -45,17 +49,29 @@ print("Starting server")
 
 server.start()
 ip_int = ".".join(str(int(n)) for n in esp.ip_address)
+
+status_led.value = True
+
 print(f"IP Address is {ip_int}")
 while True:
     try:
+        status_led.value = False
         server.update_poll()
+        status_led.value = True
         # background task
         if state.stop_at < time.time():
           robot.stop()
+    except RuntimeError as e:
+      print(f"Server poll error: {type(e)}, {e}")
+      robot.stop()
+      print(f"Resetting ESP...")
+      wifi.reset()
+      print("Reset complete.")
     except:
-        print("Shutting down wifi on failure. resetting ESP")
-        wifi.reset()
-        raise
+      print("Shutting down wifi on failure. resetting ESP")
+      robot.stop()
+      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.