ch-9 clean

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.