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514 | import network
import socket
import secrets
import time
from machine import Pin, PWM
import neopixel
import config
# Hardware setup based on config.py
led = Pin("LED", Pin.OUT)
# Motor PWM setup
right_forward = PWM(Pin(config.RIGHT_FORWARD_PIN))
right_reverse = PWM(Pin(config.RIGHT_REVERSE_PIN))
left_forward = PWM(Pin(config.LEFT_FORWARD_PIN))
left_reverse = PWM(Pin(config.LEFT_REVERSE_PIN))
# Set PWM frequency for motors (1000 Hz is good for motors)
right_forward.freq(1000)
right_reverse.freq(1000)
left_forward.freq(1000)
left_reverse.freq(1000)
# NeoPixel setup
np = neopixel.NeoPixel(Pin(config.NEOPIXEL_PIN), config.NUMBER_NEOPIXELS)
# Speaker setup
speaker = PWM(Pin(config.SPEAKER_PIN))
# Global variables for state tracking
led_state = False
current_neopixel_color = "off"
def blink_led(times=1, delay=0.2):
"""Blink the onboard LED for status indication"""
for _ in range(times):
led.on()
time.sleep(delay)
led.off()
time.sleep(delay)
def connect_wifi(max_retries=10):
"""Connect to WiFi with retry logic"""
print(f'Connecting to WiFi Network: {secrets.SSID}')
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
# Disable power management for better responsiveness
wlan.config(pm=0xa11140)
print('Powering up WiFi chip...')
time.sleep(3)
retry_count = 0
while retry_count < max_retries:
try:
print(f'Connection attempt {retry_count + 1}/{max_retries}')
wlan.connect(secrets.SSID, secrets.PASSWORD)
timeout = 15
start_time = time.time()
while not wlan.isconnected() and (time.time() - start_time) < timeout:
time.sleep(1)
print('.', end='')
print()
if wlan.isconnected():
return wlan
else:
print(f'Timeout on attempt {retry_count + 1}')
retry_count += 1
time.sleep(2)
except Exception as e:
print(f'Error on attempt {retry_count + 1}: {e}')
retry_count += 1
time.sleep(2)
return None
def stop_motors():
"""Stop all motors"""
right_forward.duty_u16(0)
right_reverse.duty_u16(0)
left_forward.duty_u16(0)
left_reverse.duty_u16(0)
def move_forward():
"""Move robot forward"""
stop_motors()
time.sleep(0.1)
right_forward.duty_u16(32000) # About 50% power
left_forward.duty_u16(32000)
print("Moving forward")
def move_reverse():
"""Move robot in reverse"""
stop_motors()
time.sleep(0.1)
right_reverse.duty_u16(32000)
left_reverse.duty_u16(32000)
print("Moving reverse")
def turn_right():
"""Turn robot right"""
stop_motors()
time.sleep(0.1)
left_forward.duty_u16(32000) # Left wheel forward
right_reverse.duty_u16(32000) # Right wheel reverse
print("Turning right")
def turn_left():
"""Turn robot left"""
stop_motors()
time.sleep(0.1)
right_forward.duty_u16(32000) # Right wheel forward
left_reverse.duty_u16(32000) # Left wheel reverse
print("Turning left")
def set_neopixels(color):
"""Set NeoPixels to specified color"""
global current_neopixel_color
current_neopixel_color = color
if color == "red":
for i in range(config.NUMBER_NEOPIXELS):
np[i] = (255, 0, 0)
elif color == "green":
for i in range(config.NUMBER_NEOPIXELS):
np[i] = (0, 255, 0)
elif color == "blue":
for i in range(config.NUMBER_NEOPIXELS):
np[i] = (0, 0, 255)
else: # off
for i in range(config.NUMBER_NEOPIXELS):
np[i] = (0, 0, 0)
np.write()
print(f"NeoPixels set to {color}")
def play_tone(frequency=1000, duration=0.5):
"""Play a tone on the speaker"""
speaker.freq(frequency)
speaker.duty_u16(32768) # 50% duty cycle
time.sleep(duration)
speaker.duty_u16(0) # Turn off
print(f"Played tone: {frequency}Hz for {duration}s")
def toggle_led():
"""Toggle the onboard LED"""
global led_state
led_state = not led_state
if led_state:
led.on()
print("LED turned ON")
else:
led.off()
print("LED turned OFF")
def generate_html():
"""Generate the HTML page for robot control"""
html = f"""
<!DOCTYPE html>
<html>
<head>
<title>Robot Test Interface</title>
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<style>
body {{
font-family: Arial, sans-serif;
max-width: 600px;
margin: 0 auto;
padding: 20px;
background-color: #f0f0f0;
}}
.container {{
background-color: white;
padding: 20px;
border-radius: 10px;
box-shadow: 0 2px 10px rgba(0,0,0,0.1);
}}
h1 {{
color: #333;
text-align: center;
}}
.section {{
margin: 20px 0;
padding: 15px;
border: 1px solid #ddd;
border-radius: 5px;
}}
.section h3 {{
margin-top: 0;
color: #555;
}}
button {{
background-color: #4CAF50;
color: white;
padding: 10px 20px;
margin: 5px;
border: none;
border-radius: 5px;
cursor: pointer;
font-size: 16px;
}}
button:hover {{
background-color: #45a049;
}}
.motor-btn {{
background-color: #2196F3;
}}
.motor-btn:hover {{
background-color: #1976D2;
}}
.stop-btn {{
background-color: #f44336;
}}
.stop-btn:hover {{
background-color: #d32f2f;
}}
.status {{
margin-top: 20px;
padding: 10px;
background-color: #e8f5e8;
border-radius: 5px;
}}
.color-buttons {{
display: flex;
gap: 10px;
flex-wrap: wrap;
}}
.red-btn {{ background-color: #f44336; }}
.green-btn {{ background-color: #4CAF50; }}
.blue-btn {{ background-color: #2196F3; }}
.off-btn {{ background-color: #757575; }}
</style>
</head>
<body>
<div class="container">
<h1>Robot Test Interface v2</h1>
<div class="section">
<h3>Onboard LED</h3>
<button onclick="sendCommand('toggle_led')">Toggle LED</button>
<p>Current state: <span id="led-status">{'ON' if led_state else 'OFF'}</span></p>
</div>
<div class="section">
<h3>NeoPixels</h3>
<div class="color-buttons">
<button class="red-btn" onclick="sendCommand('neopixel_red')">Red</button>
<button class="green-btn" onclick="sendCommand('neopixel_green')">Green</button>
<button class="blue-btn" onclick="sendCommand('neopixel_blue')">Blue</button>
<button class="off-btn" onclick="sendCommand('neopixel_off')">Off</button>
</div>
<p>Current color: <span id="neopixel-status">{current_neopixel_color}</span></p>
</div>
<div class="section">
<h3>Speaker</h3>
<button onclick="sendCommand('play_tone')">Play Tone (1000Hz)</button>
<button onclick="sendCommand('play_tone_low')">Low Tone (500Hz)</button>
<button onclick="sendCommand('play_tone_high')">High Tone (1500Hz)</button>
</div>
<div class="section">
<h3>Motor Control</h3>
<div>
<button class="motor-btn" onclick="sendCommand('move_forward')">Forward</button>
<button class="motor-btn" onclick="sendCommand('move_reverse')">Reverse</button>
</div>
<div>
<button class="motor-btn" onclick="sendCommand('turn_left')">Turn Left</button>
<button class="motor-btn" onclick="sendCommand('turn_right')">Turn Right</button>
</div>
<div>
<button class="stop-btn" onclick="sendCommand('stop_motors')">STOP</button>
</div>
<p><em>Note: Motors will run for 2 seconds then auto-stop</em></p>
</div>
<div class="status">
<h3>System Status</h3>
<p>WiFi: Connected</p>
<p>Last command: <span id="last-command">None</span></p>
</div>
</div>
<script>
function sendCommand(command) {{
console.log('Sending command:', command);
document.getElementById('last-command').textContent = 'Sending: ' + command;
fetch('/command', {{
method: 'POST',
headers: {{
'Content-Type': 'application/x-www-form-urlencoded',
}},
body: 'cmd=' + encodeURIComponent(command)
}})
.then(response => {{
console.log('Response status:', response.status);
return response.text();
}})
.then(data => {{
console.log('Response data:', data);
document.getElementById('last-command').textContent = command + ' (' + data + ')';
// Update status displays based on command
if (command === 'toggle_led') {{
// Will be updated on next page load or we can toggle the display
setTimeout(() => location.reload(), 500);
}}
if (command.startsWith('neopixel_')) {{
const color = command.replace('neopixel_', '');
document.getElementById('neopixel-status').textContent = color;
}}
}})
.catch(error => {{
console.error('Error:', error);
document.getElementById('last-command').textContent = 'Error: ' + command + ' - ' + error.message;
}});
}}
// Add some debug info
console.log('Robot control interface loaded');
</script>
</body>
</html>
"""
return html
def handle_command(command):
"""Handle robot commands from web interface"""
try:
if command == "toggle_led":
toggle_led()
elif command == "neopixel_red":
set_neopixels("red")
elif command == "neopixel_green":
set_neopixels("green")
elif command == "neopixel_blue":
set_neopixels("blue")
elif command == "neopixel_off":
set_neopixels("off")
elif command == "play_tone":
play_tone(1000, 0.5)
elif command == "play_tone_low":
play_tone(500, 0.5)
elif command == "play_tone_high":
play_tone(1500, 0.5)
elif command == "move_forward":
move_forward()
time.sleep(2) # Run for 2 seconds
stop_motors()
elif command == "move_reverse":
move_reverse()
time.sleep(2)
stop_motors()
elif command == "turn_left":
turn_left()
time.sleep(2)
stop_motors()
elif command == "turn_right":
turn_right()
time.sleep(2)
stop_motors()
elif command == "stop_motors":
stop_motors()
else:
print(f"Unknown command: {command}")
return False
return True
except Exception as e:
print(f"Error executing command {command}: {e}")
return False
def start_web_server(wlan):
"""Start the web server"""
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.bind(addr)
s.listen(1)
ip = wlan.ifconfig()[0]
print(f'\nWeb server started!')
print(f'Open your browser and go to: http://{ip}')
print(f'Robot control interface ready!')
print('='*50)
while True:
try:
cl, addr = s.accept()
print(f'Client connected from {addr}')
# Set a timeout for receiving data
cl.settimeout(2.0)
# Read the request in chunks to ensure we get it all
request = b''
try:
while True:
chunk = cl.recv(1024)
if not chunk:
break
request += chunk
# Check if we have the complete request
if b'\r\n\r\n' in request:
break
except:
# Timeout or error reading - proceed with what we have
pass
request = request.decode('utf-8')
print(f"Full request received ({len(request)} bytes)")
# Parse the request
if 'GET / ' in request:
# Serve the main page
response = generate_html()
cl.send('HTTP/1.1 200 OK\r\n')
cl.send('Content-Type: text/html\r\n')
cl.send(f'Content-Length: {len(response)}\r\n')
cl.send('\r\n')
cl.send(response)
elif 'POST /command' in request:
# Handle command - improved parsing with debugging
print(f"POST request received, length: {len(request)}")
# Find the body of the request
body_start = request.find('\r\n\r\n')
if body_start != -1:
body = request[body_start + 4:]
print(f"Request body: '{body}'")
# Parse URL-encoded data
if body.startswith('cmd='):
command = body[4:].strip() # Remove 'cmd=' prefix and whitespace
print(f"Executing command: '{command}'")
success = handle_command(command)
if success:
response = "OK"
print(f"Command '{command}' executed successfully")
else:
response = "ERROR"
print(f"Command '{command}' failed")
cl.send('HTTP/1.1 200 OK\r\n')
cl.send('Content-Type: text/plain\r\n')
cl.send('Access-Control-Allow-Origin: *\r\n')
cl.send(f'Content-Length: {len(response)}\r\n')
cl.send('\r\n')
cl.send(response)
else:
print(f"Invalid body format: '{body}'")
cl.send('HTTP/1.1 400 Bad Request\r\n\r\n')
else:
print("No body found in POST request")
cl.send('HTTP/1.1 400 Bad Request\r\n\r\n')
else:
# 404 for other requests
print(f"Unknown request: {request[:100]}...")
cl.send('HTTP/1.1 404 Not Found\r\n\r\n')
except Exception as e:
print(f'Web server error: {e}')
finally:
try:
cl.close()
except:
pass
def main():
"""Main program function"""
print('Robot Web Server Test Interface')
print('===================================')
# Initialize hardware
stop_motors()
set_neopixels("off")
led.off()
# Initial LED indication
blink_led(2, 0.5)
# Connect to WiFi
wlan = connect_wifi()
if wlan:
config = wlan.ifconfig()
print('\n' + '='*50)
print('WIFI CONNECTION SUCCESSFUL!')
print('='*50)
print(f'IP Address: {config[0]}')
print(f'Network: {secrets.SSID}')
print('='*50)
blink_led(3, 0.2) # Success indication
# Start the web server
start_web_server(wlan)
else:
print('\nFAILED TO CONNECT!')
print('Check your secrets.py file for correct SSID and PASSWORD')
blink_led(10, 0.1) # Error indication
if __name__ == '__main__':
main()
|
