ch-9 clean

ch-9/1-wifi-basics/connect_and_fetch.py

@@ -5,10 +5,10 @@ from adafruit_esp32spi import adafruit_esp32spi
 from adafruit_esp32spi import adafruit_esp32spi_wifimanager
 
 try:
- from secrets import secrets
+    from secrets import secrets
 except ImportError:
- print("WiFi secrets are kept in secrets.py, please add them there!")
- raise
+    print("WiFi secrets are kept in secrets.py, please add them there!")
+    raise
 
 esp32_cs = DigitalInOut(board.GP10)
 esp32_ready = DigitalInOut(board.GP9)
@@ -24,9 +24,9 @@ wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
 status_led.value = 1
 print("Connected. Making connection")
 try:
-  response = wifi.get("https://api.ipify.org")
-  print(response.text)
+    response = wifi.get("https://api.ipify.org")
+    print(response.text)
 except:
-  status_led.value = 0
-  wifi.reset()
-  raise
+    status_led.value = 0
+    wifi.reset()
+    raise

ch-9/1-wifi-basics/simpler.py

@@ -15,7 +15,7 @@ spi = busio.SPI(board.GP14, board.GP11, board.GP12)
 esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
 
 if esp.status == adafruit_esp32spi.WL_IDLE_STATUS:
- print("ESP32 found and in idle mode")
+    print("ESP32 found and in idle mode")
 print("Firmware vers.", esp.firmware_version)
 print("MAC addr:", [hex(i) for i in esp.MAC_address])
 # esp.start_scan_networks()
@@ -23,5 +23,5 @@ print("MAC addr:", [hex(i) for i in esp.MAC_address])
 # time.sleep(5)
 
 for ap in esp.scan_networks():
- print("\t%s\t\tRSSI: %d" % (str(ap['ssid'], 'utf-8'), ap['rssi']))
+    print("\t%s\t\tRSSI: %d" % (str(ap["ssid"], "utf-8"), ap["rssi"]))
 print("Done!")

ch-9/2-hello-world/hello_from_file.py

@@ -5,18 +5,17 @@ from adafruit_wsgi.wsgi_app import WSGIApp
 
 app = WSGIApp()
 
+
 @app.route("/")
 def index(request):
-  with open("hello.html") as fd:
-    hello_html = fd.read()
-  return 200, [('Content-Type',"text/html")], hello_html
+    with open("hello.html") as fd:
+        hello_html = fd.read()
+    return 200, [("Content-Type", "text/html")], hello_html
+
 
 print("Setting up wifi.")
 wifi, esp = robot_wifi.connect_to_wifi()
-server = adafruit_esp32spi_wsgiserver.WSGIServer(
-  80,
-  application=app 
-)
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Starting server")

ch-9/2-hello-world/hello_server.py

@@ -5,16 +5,15 @@ from adafruit_wsgi.wsgi_app import WSGIApp
 
 app = WSGIApp()
 
+
 @app.route("/")
 def index(request):
-  return 200, [], "Hello world!"
+    return 200, [], "Hello world!"
+
 
 print("Setting up wifi.")
 wifi, esp = robot_wifi.connect_to_wifi()
-server = adafruit_esp32spi_wsgiserver.WSGIServer(
-  80,
-  application=app 
-)
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Starting server")

ch-9/2-hello-world/robot_wifi.py

@@ -5,21 +5,21 @@ from adafruit_esp32spi import adafruit_esp32spi
 from adafruit_esp32spi import adafruit_esp32spi_wifimanager
 
 try:
- from secrets import secrets
+    from secrets import secrets
 except ImportError:
- print("WiFi secrets are kept in secrets.py, please add them there!")
- raise
+    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)
+    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()
+    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
+    return wifi, esp

ch-9/3-sensors/pio_encoder.py

@@ -54,24 +54,24 @@ send:
 
 assembled = adafruit_pioasm.assemble(program)
 
-class QuadratureEncoder:
-  def __init__(self, first_pin, second_pin, reversed=False):
-    """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]
- 
+class QuadratureEncoder:
+    def __init__(self, first_pin, second_pin, reversed=False):
+        """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]

ch-9/3-sensors/robot.py

@@ -29,6 +29,7 @@ def stop():
     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:
@@ -36,15 +37,16 @@ def set_speed(motor, speed):
         speed = -speed
     else:
         direction = motor
-    speed = min(speed, 1) # limit to 1.0
-    max_speed = 2**16-1
-
+    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)

ch-9/3-sensors/robot_wifi.py

@@ -5,21 +5,21 @@ from adafruit_esp32spi import adafruit_esp32spi
 from adafruit_esp32spi import adafruit_esp32spi_wifimanager
 
 try:
- from secrets import secrets
+    from secrets import secrets
 except ImportError:
- print("WiFi secrets are kept in secrets.py, please add them there!")
- raise
+    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)
+    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()
+    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
+    return wifi, esp

ch-9/3-sensors/sensor_remote.py

@@ -8,27 +8,27 @@ import robot
 
 app = WSGIApp()
 
+
 @app.route("/")
 def index(request):
-  with open("sensor.html") as fd:
-    hello_html = fd.read()
-  return 200, [('Content-Type',"text/html")], [hello_html]
+    with open("sensor.html") as fd:
+        hello_html = fd.read()
+    return 200, [("Content-Type", "text/html")], [hello_html]
+
 
 @app.route("/sensors")
 def sensors(request):
-  sensor_data = {
-    "left_distance": robot.left_distance.distance,
-  }
-  robot.left_distance.clear_interrupt()
+    sensor_data = {
+        "left_distance": robot.left_distance.distance,
+    }
+    robot.left_distance.clear_interrupt()
+
+    return 200, [("Content-Type", "application/json")], [json.dumps(sensor_data)]
 
-  return 200, [('Content-Type', 'application/json')], [json.dumps(sensor_data)]
 
 print("Setting up wifi.")
 wifi, esp = robot_wifi.connect_to_wifi()
-server = adafruit_esp32spi_wsgiserver.WSGIServer(
-  80,
-  application=app 
-)
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Initialising sensors")
@@ -44,14 +44,14 @@ print(f"IP Address is {ip_int}")
 while True:
     try:
         try:
-          server.update_poll()
+            server.update_poll()
         except RuntimeError as e:
-          print(f"Server poll error: {type(e)}, {e}")
+            print(f"Server poll error: {type(e)}, {e}")
         # background task
     except:
         print("Shutting down wifi on failure. resetting ESP")
         wifi.reset()
         raise
 # Reader exercise
-# add the right distance to the distance sensor remote. Consider where to position the meter for this, how to return both sensors in 
+# add the right distance to the distance sensor remote. Consider where to position the meter for this, how to return both sensors in
 # the sensors call. Don't forget to clear the interrupt to get new readings.

ch-9/4-teleop/pio_encoder.py

@@ -54,24 +54,24 @@ send:
 
 assembled = adafruit_pioasm.assemble(program)
 
-class QuadratureEncoder:
-  def __init__(self, first_pin, second_pin, reversed=False):
-    """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]
- 
+class QuadratureEncoder:
+    def __init__(self, first_pin, second_pin, reversed=False):
+        """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]

ch-9/4-teleop/robot.py

@@ -29,6 +29,7 @@ def stop():
     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:
@@ -36,15 +37,16 @@ def set_speed(motor, speed):
         speed = -speed
     else:
         direction = motor
-    speed = min(speed, 1) # limit to 1.0
-    max_speed = 2**16-1
-
+    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)

ch-9/4-teleop/robot_wifi.py

@@ -5,21 +5,21 @@ from adafruit_esp32spi import adafruit_esp32spi
 from adafruit_esp32spi import adafruit_esp32spi_wifimanager
 
 try:
- from secrets import secrets
+    from secrets import secrets
 except ImportError:
- print("WiFi secrets are kept in secrets.py, please add them there!")
- raise
+    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)
+    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()
+    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
+    return wifi, esp

ch-9/4-teleop/teleop.py

@@ -11,26 +11,31 @@ import robot
 
 app = WSGIApp()
 
+
 class State:
-  stop_at = 0
+    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]
+    with open("teleop.html") as fd:
+        hello_html = fd.read()
+    return 200, [("Content-Type", "text/html")], [hello_html]
+
 
 @app.route("/control", methods=["POST"])
 def control(request):
-  movement = json.load(request.body)
-  print(f"Received movement: {movement}")
+    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"]
 
-  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)
@@ -39,10 +44,7 @@ status_led.value = False
 
 
 wifi, esp = robot_wifi.connect_to_wifi()
-server = adafruit_esp32spi_wsgiserver.WSGIServer(
-  80,
-  application=app 
-)
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Starting server")
@@ -60,18 +62,18 @@ while True:
         status_led.value = True
         # background task
         if state.stop_at < time.time():
-          robot.stop()
+            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.")
+        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")
-      robot.stop()
-      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.