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