ch-9 clean

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

@@ -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
+    return 200, [("Content-Type", "text/html")], hello_html
+
 
 print("Setting up wifi.")
 wifi, esp = robot_wifi.connect_to_wifi()
-server = adafruit_esp32spi_wsgiserver.WSGIServer(
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
-  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!"
 
+
 print("Setting up wifi.")
 wifi, esp = robot_wifi.connect_to_wifi()
-server = adafruit_esp32spi_wsgiserver.WSGIServer(
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
-  80,
-  application=app 
-)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Starting server")

ch-9/3-sensors/pio_encoder.py

@@ -54,6 +54,7 @@ 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"""
@@ -62,10 +63,10 @@ class QuadratureEncoder:
             frequency=0,
             first_in_pin=first_pin,
             jmp_pin=second_pin,
-        in_pin_count=2
+            in_pin_count=2,
         )
         self.reversed = reversed
-    self._buffer = array.array('i', [0])
+        self._buffer = array.array("i", [0])
 
     def read(self):
         while self.sm.in_waiting:
@@ -74,4 +75,3 @@ class QuadratureEncoder:
             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:
@@ -37,14 +38,15 @@ def set_speed(motor, speed):
     else:
         direction = motor
     speed = min(speed, 1)  # limit to 1.0
-    max_speed = 2**16-1
+    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/sensor_remote.py

@@ -8,11 +8,13 @@ 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]
+    return 200, [("Content-Type", "text/html")], [hello_html]
+
 
 @app.route("/sensors")
 def sensors(request):
@@ -21,14 +23,12 @@ def sensors(request):
     }
     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(
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
-  80,
-  application=app 
-)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Initialising sensors")

ch-9/4-teleop/pio_encoder.py

@@ -54,6 +54,7 @@ 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"""
@@ -62,10 +63,10 @@ class QuadratureEncoder:
             frequency=0,
             first_in_pin=first_pin,
             jmp_pin=second_pin,
-        in_pin_count=2
+            in_pin_count=2,
         )
         self.reversed = reversed
-    self._buffer = array.array('i', [0])
+        self._buffer = array.array("i", [0])
 
     def read(self):
         while self.sm.in_waiting:
@@ -74,4 +75,3 @@ class QuadratureEncoder:
             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:
@@ -37,14 +38,15 @@ def set_speed(motor, speed):
     else:
         direction = motor
     speed = min(speed, 1)  # limit to 1.0
-    max_speed = 2**16-1
+    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/teleop.py

@@ -11,16 +11,20 @@ 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]
+    return 200, [("Content-Type", "text/html")], [hello_html]
+
 
 @app.route("/control", methods=["POST"])
 def control(request):
@@ -30,7 +34,8 @@ def control(request):
     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"]
+    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(
+server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
-  80,
-  application=app 
-)
 adafruit_esp32spi_wsgiserver.set_interface(esp)
 
 print("Starting server")