Danny Staple
80 lines
1.8 KiB
Python
80 lines
1.8 KiB
Python
import json
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import time
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from digitalio import DigitalInOut
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import board
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from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
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from adafruit_wsgi.wsgi_app import WSGIApp
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import robot_wifi
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import robot
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app = WSGIApp()
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class State:
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stop_at = 0
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state = State()
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@app.route("/")
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def index(request):
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with open("teleop.html") as fd:
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hello_html = fd.read()
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return 200, [("Content-Type", "text/html")], [hello_html]
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@app.route("/control", methods=["POST"])
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def control(request):
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movement = json.load(request.body)
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print(f"Received movement: {movement}")
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robot.set_left(-movement[1] + movement[0])
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robot.set_right(-movement[1] - movement[0])
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state.stop_at = time.time() + 1
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return 200, [("Content-Type", "application/json")], ["true"]
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print("Setting up wifi.")
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status_led = DigitalInOut(board.LED)
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status_led.switch_to_output()
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status_led.value = False
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wifi, esp = robot_wifi.connect_to_wifi()
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server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
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adafruit_esp32spi_wsgiserver.set_interface(esp)
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print("Starting server")
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server.start()
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ip_int = ".".join(str(int(n)) for n in esp.ip_address)
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status_led.value = True
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print(f"IP Address is {ip_int}")
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while True:
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try:
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status_led.value = False
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server.update_poll()
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status_led.value = True
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# background task
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if state.stop_at < time.time():
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robot.stop()
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except RuntimeError as e:
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print(f"Server poll error: {type(e)}, {e}")
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robot.stop()
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print(f"Resetting ESP...")
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wifi.reset()
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print("Reset complete.")
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except:
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print("Shutting down wifi on failure. resetting ESP")
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robot.stop()
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wifi.reset()
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raise
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# Reader exercise
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# Can you combine the sensors and the control app? Can you think about how to control it using the sensors for feedback.
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