Vernie android remote control

demo.py

@@ -176,7 +176,7 @@ if __name__ == '__main__':
     # time.sleep(1)
     # mtr.stop()
 
-
-    mtr.constant(0.3, -0.5)
+    mtr.test()
     time.sleep(3)
     mtr.stop()
+    time.sleep(1)

pylgbst/comms.py

@@ -158,7 +158,7 @@ class DebugServer(object):
         self.sock.close()
 
     def _notify_dummy(self, handle, data):
-        log.debug("Dropped notification from handle %s: %s", handle, binascii.hexlify(data.strip()))
+        log.debug("Dropped notification from handle %s: %s", handle, binascii.hexlify(data))
         self._check_shutdown(data)
 
     def _notify(self, conn, handle, data):

pylgbst/peripherals.py

@@ -134,6 +134,8 @@ class EncodedMotor(Peripheral):
 
     CONSTANT_SINGLE = b'\x01'
     CONSTANT_GROUP = b'\x02'
+    SOME_SINGLE = b'\x07'
+    SOME_GROUP = b'\x08'
     TIMED_SINGLE = b'\x09'
     TIMED_GROUP = b'\x0A'
     ANGLED_SINGLE = b'\x0B'
@@ -207,8 +209,19 @@ class EncodedMotor(Peripheral):
         self._wrap_and_write(command, speed_primary, speed_secondary)
         self.__wait_sync(async)
 
+    def some(self, speed_primary=1, speed_secondary=None, async=False):
+        if speed_secondary is None:
+            speed_secondary = speed_primary
+
+        # movement type
+        command = self.SOME_GROUP if self.port == PORT_AB else self.SOME_SINGLE
+
+        self.started()
+        self._wrap_and_write(command, speed_primary, speed_secondary)
+        self.__wait_sync(async)
+
     def stop(self):
-        self.constant(0)
+        self.constant(0, async=True)
 
     def test(self, speed_primary=1, speed_secondary=None):
         if speed_secondary is None:
@@ -219,10 +232,12 @@ class EncodedMotor(Peripheral):
         # self._wrap_and_write(command, 0.2, 0.2)
 
         # set for port
-        command = self.MOVEMENT_TYPE + b"\x02"
+        command = self.MOVEMENT_TYPE + b"\x07"
+        command += pack('<H', self._speed_abs(0.2))
+        command += pack('<H', 1000)
 
-        command += pack('<B', self._speed_abs(speed_primary))  # time or angle - first param
-        command += pack('<B', self._speed_abs(speed_secondary))  # time or angle - first param
+        #command += pack('<B', self._speed_abs(speed_primary))  # time or angle - first param
+        #command += pack('<B', self._speed_abs(speed_secondary))  # time or angle - first param
 
         speed_primary = 0.5
         speed_secondary = -0.5

vernie/android_remote.py

@@ -0,0 +1,70 @@
+# use android remote to control vernie
+# https://play.google.com/store/apps/details?id=com.mscino.sensornode
+import logging
+import socket
+import time
+
+from vernie import Vernie
+
+host = ''
+port = 8999
+running = True
+
+
+def on_btn(pressed):
+    global running
+    if pressed:
+        running = False
+
+
+def decode_xml(messageString):
+    parts = messageString.split("</")
+    xxx = float(parts[1][parts[1].rfind('>') + 1:])
+    yyy = float(parts[2][parts[2].rfind('>') + 1:])
+    zzz = float(parts[3][parts[3].rfind('>') + 1:])
+    return ranged(xxx), ranged(yyy), ranged(zzz)
+
+
+def ranged(param):
+    return float(param / 10)
+
+
+udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+udp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+udp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+udp_sock.settimeout(0)
+
+logging.basicConfig(level=logging.INFO)
+robot = Vernie()
+robot.button.subscribe(on_btn)
+robot.motor_AB.stop()
+
+try:
+    udp_sock.bind((host, port))
+    time.sleep(1)
+
+    while running:
+        message = ""
+        while True:
+            try:
+                data = udp_sock.recv(8192)
+                message = data
+            except KeyboardInterrupt:
+                raise
+            except:
+                break
+
+        if not message:
+            time.sleep(0.05)
+            continue
+
+        messageString = message.decode("utf-8")
+        a, b, c = decode_xml(messageString)
+        sa = int(10 * (c + b / 2.0)) / 10.0
+        sb = int(10 * (c - b / 2.0)) / 10.0
+        logging.info("SpeedA=%s, SpeedB=%s", sa, sb)
+        robot.motor_AB.constant(sa, sb, async=True)
+        time.sleep(0.5)
+finally:
+    robot.motor_AB.stop()
+    udp_sock.close()