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ch-9 clean

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This commit is contained in:
Danny Staple
2022-03-20 22:30:03 +00:00
parent 530f67856d
commit c632222255
13 changed files with 147 additions and 143 deletions
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ch-9/1-wifi-basics/connect_and_fetch.py
+8 -8
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@@ -5,10 +5,10 @@ from adafruit_esp32spi import adafruit_esp32spi
from adafruit_esp32spi import adafruit_esp32spi_wifimanager from adafruit_esp32spi import adafruit_esp32spi_wifimanager
try: try:
from secrets import secrets from secrets import secrets
except ImportError: except ImportError:
print("WiFi secrets are kept in secrets.py, please add them there!") print("WiFi secrets are kept in secrets.py, please add them there!")
raise raise
esp32_cs = DigitalInOut(board.GP10) esp32_cs = DigitalInOut(board.GP10)
esp32_ready = DigitalInOut(board.GP9) esp32_ready = DigitalInOut(board.GP9)
@@ -24,9 +24,9 @@ wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
status_led.value = 1 status_led.value = 1
print("Connected. Making connection") print("Connected. Making connection")
try: try:
response = wifi.get("https://api.ipify.org") response = wifi.get("https://api.ipify.org")
print(response.text) print(response.text)
except: except:
status_led.value = 0 status_led.value = 0
wifi.reset() wifi.reset()
raise raise
ch-9/1-wifi-basics/simpler.py
+2 -2
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@@ -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) esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
if esp.status == adafruit_esp32spi.WL_IDLE_STATUS: 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("Firmware vers.", esp.firmware_version)
print("MAC addr:", [hex(i) for i in esp.MAC_address]) print("MAC addr:", [hex(i) for i in esp.MAC_address])
# esp.start_scan_networks() # esp.start_scan_networks()
@@ -23,5 +23,5 @@ print("MAC addr:", [hex(i) for i in esp.MAC_address])
# time.sleep(5) # time.sleep(5)
for ap in esp.scan_networks(): 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!") print("Done!")
ch-9/2-hello-world/hello_from_file.py
+6 -7
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@@ -5,18 +5,17 @@ from adafruit_wsgi.wsgi_app import WSGIApp
app = WSGIApp() app = WSGIApp()
@app.route("/") @app.route("/")
def index(request): def index(request):
with open("hello.html") as fd: with open("hello.html") as fd:
hello_html = fd.read() hello_html = fd.read()
return 200, [('Content-Type',"text/html")], hello_html return 200, [("Content-Type", "text/html")], hello_html
print("Setting up wifi.") print("Setting up wifi.")
wifi, esp = robot_wifi.connect_to_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) adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Starting server") print("Starting server")
ch-9/2-hello-world/hello_server.py
+4 -5
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@@ -5,16 +5,15 @@ from adafruit_wsgi.wsgi_app import WSGIApp
app = WSGIApp() app = WSGIApp()
@app.route("/") @app.route("/")
def index(request): def index(request):
return 200, [], "Hello world!" return 200, [], "Hello world!"
print("Setting up wifi.") print("Setting up wifi.")
wifi, esp = robot_wifi.connect_to_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) adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Starting server") print("Starting server")
ch-9/2-hello-world/robot_wifi.py
+12 -12
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@@ -5,21 +5,21 @@ from adafruit_esp32spi import adafruit_esp32spi
from adafruit_esp32spi import adafruit_esp32spi_wifimanager from adafruit_esp32spi import adafruit_esp32spi_wifimanager
try: try:
from secrets import secrets from secrets import secrets
except ImportError: except ImportError:
print("WiFi secrets are kept in secrets.py, please add them there!") print("WiFi secrets are kept in secrets.py, please add them there!")
raise raise
def connect_to_wifi(): def connect_to_wifi():
esp32_cs = DigitalInOut(board.GP10) esp32_cs = DigitalInOut(board.GP10)
esp32_ready = DigitalInOut(board.GP9) esp32_ready = DigitalInOut(board.GP9)
esp32_reset = DigitalInOut(board.GP8) esp32_reset = DigitalInOut(board.GP8)
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12) spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset) esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
esp.reset() esp.reset()
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets) wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
wifi.connect() wifi.connect()
return wifi, esp return wifi, esp
ch-9/3-sensors/pio_encoder.py
+20 -20
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@@ -54,24 +54,24 @@ send:
assembled = adafruit_pioasm.assemble(program) 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): class QuadratureEncoder:
while self.sm.in_waiting: def __init__(self, first_pin, second_pin, reversed=False):
self.sm.readinto(self._buffer) """Encoder with 2 pins. Must use sequential pins on the board"""
if self.reversed: self.sm = rp2pio.StateMachine(
return -self._buffer[0] assembled,
else: frequency=0,
return self._buffer[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
+5 -3
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@@ -29,6 +29,7 @@ def stop():
motor_B1.duty_cycle = 0 motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0 motor_B2.duty_cycle = 0
def set_speed(motor, speed): def set_speed(motor, speed):
# Swap motor pins if we reverse the speed # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
@@ -36,15 +37,16 @@ def set_speed(motor, speed):
speed = -speed speed = -speed
else: else:
direction = motor direction = motor
speed = min(speed, 1) # limit to 1.0 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[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)
ch-9/3-sensors/robot_wifi.py
+12 -12
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@@ -5,21 +5,21 @@ from adafruit_esp32spi import adafruit_esp32spi
from adafruit_esp32spi import adafruit_esp32spi_wifimanager from adafruit_esp32spi import adafruit_esp32spi_wifimanager
try: try:
from secrets import secrets from secrets import secrets
except ImportError: except ImportError:
print("WiFi secrets are kept in secrets.py, please add them there!") print("WiFi secrets are kept in secrets.py, please add them there!")
raise raise
def connect_to_wifi(): def connect_to_wifi():
esp32_cs = DigitalInOut(board.GP10) esp32_cs = DigitalInOut(board.GP10)
esp32_ready = DigitalInOut(board.GP9) esp32_ready = DigitalInOut(board.GP9)
esp32_reset = DigitalInOut(board.GP8) esp32_reset = DigitalInOut(board.GP8)
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12) spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset) esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
esp.reset() esp.reset()
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets) wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
wifi.connect() wifi.connect()
return wifi, esp return wifi, esp
ch-9/3-sensors/sensor_remote.py
+15 -15
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@@ -8,27 +8,27 @@ import robot
app = WSGIApp() app = WSGIApp()
@app.route("/") @app.route("/")
def index(request): def index(request):
with open("sensor.html") as fd: with open("sensor.html") as fd:
hello_html = fd.read() hello_html = fd.read()
return 200, [('Content-Type',"text/html")], [hello_html] return 200, [("Content-Type", "text/html")], [hello_html]
@app.route("/sensors") @app.route("/sensors")
def sensors(request): def sensors(request):
sensor_data = { sensor_data = {
"left_distance": robot.left_distance.distance, "left_distance": robot.left_distance.distance,
} }
robot.left_distance.clear_interrupt() 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.") print("Setting up wifi.")
wifi, esp = robot_wifi.connect_to_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) adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Initialising sensors") print("Initialising sensors")
@@ -44,14 +44,14 @@ print(f"IP Address is {ip_int}")
while True: while True:
try: try:
try: try:
server.update_poll() server.update_poll()
except RuntimeError as e: except RuntimeError as e:
print(f"Server poll error: {type(e)}, {e}") print(f"Server poll error: {type(e)}, {e}")
# background task # background task
except: except:
print("Shutting down wifi on failure. resetting ESP") print("Shutting down wifi on failure. resetting ESP")
wifi.reset() wifi.reset()
raise raise
# Reader exercise # 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. # the sensors call. Don't forget to clear the interrupt to get new readings.
ch-9/4-teleop/pio_encoder.py
+20 -20
View File
@@ -54,24 +54,24 @@ send:
assembled = adafruit_pioasm.assemble(program) 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): class QuadratureEncoder:
while self.sm.in_waiting: def __init__(self, first_pin, second_pin, reversed=False):
self.sm.readinto(self._buffer) """Encoder with 2 pins. Must use sequential pins on the board"""
if self.reversed: self.sm = rp2pio.StateMachine(
return -self._buffer[0] assembled,
else: frequency=0,
return self._buffer[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
+5 -3
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@@ -29,6 +29,7 @@ def stop():
motor_B1.duty_cycle = 0 motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0 motor_B2.duty_cycle = 0
def set_speed(motor, speed): def set_speed(motor, speed):
# Swap motor pins if we reverse the speed # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
@@ -36,15 +37,16 @@ def set_speed(motor, speed):
speed = -speed speed = -speed
else: else:
direction = motor direction = motor
speed = min(speed, 1) # limit to 1.0 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[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)
ch-9/4-teleop/robot_wifi.py
+12 -12
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@@ -5,21 +5,21 @@ from adafruit_esp32spi import adafruit_esp32spi
from adafruit_esp32spi import adafruit_esp32spi_wifimanager from adafruit_esp32spi import adafruit_esp32spi_wifimanager
try: try:
from secrets import secrets from secrets import secrets
except ImportError: except ImportError:
print("WiFi secrets are kept in secrets.py, please add them there!") print("WiFi secrets are kept in secrets.py, please add them there!")
raise raise
def connect_to_wifi(): def connect_to_wifi():
esp32_cs = DigitalInOut(board.GP10) esp32_cs = DigitalInOut(board.GP10)
esp32_ready = DigitalInOut(board.GP9) esp32_ready = DigitalInOut(board.GP9)
esp32_reset = DigitalInOut(board.GP8) esp32_reset = DigitalInOut(board.GP8)
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12) spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset) esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
esp.reset() esp.reset()
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets) wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
wifi.connect() wifi.connect()
return wifi, esp return wifi, esp
ch-9/4-teleop/teleop.py
+26 -24
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@@ -11,26 +11,31 @@ import robot
app = WSGIApp() app = WSGIApp()
class State: class State:
stop_at = 0 stop_at = 0
state = State() state = State()
@app.route("/") @app.route("/")
def index(request): def index(request):
with open("teleop.html") as fd: with open("teleop.html") as fd:
hello_html = fd.read() 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"]) @app.route("/control", methods=["POST"])
def control(request): def control(request):
movement = json.load(request.body) movement = json.load(request.body)
print(f"Received movement: {movement}") 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.") print("Setting up wifi.")
status_led = DigitalInOut(board.LED) status_led = DigitalInOut(board.LED)
@@ -39,10 +44,7 @@ status_led.value = False
wifi, esp = robot_wifi.connect_to_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) adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Starting server") print("Starting server")
@@ -60,18 +62,18 @@ while True:
status_led.value = True status_led.value = True
# background task # background task
if state.stop_at < time.time(): if state.stop_at < time.time():
robot.stop() robot.stop()
except RuntimeError as e: except RuntimeError as e:
print(f"Server poll error: {type(e)}, {e}") print(f"Server poll error: {type(e)}, {e}")
robot.stop() robot.stop()
print(f"Resetting ESP...") print(f"Resetting ESP...")
wifi.reset() wifi.reset()
print("Reset complete.") print("Reset complete.")
except: except:
print("Shutting down wifi on failure. resetting ESP") print("Shutting down wifi on failure. resetting ESP")
robot.stop() robot.stop()
wifi.reset() wifi.reset()
raise raise
# Reader exercise # Reader exercise
# Can you combine the sensors and the control app? Can you think about how to control it using the sensors for feedback. # Can you combine the sensors and the control app? Can you think about how to control it using the sensors for feedback.