atom_motion.py

import machine
import struct
import network
import socket
import neopixel
import utime

# setup led
np = neopixel.NeoPixel(machine.Pin(27), 1)

# setup servo and motor
sda_pin = machine.Pin(25)
scl_pin = machine.Pin(21)

i2c = machine.I2C(0, sda=sda_pin, scl=scl_pin, freq=400000)
devices = i2c.scan()

device = [i for i in devices if hex(i) == "0x38"][0]


def set_speed(speed):
    buf = bytearray(1)
    struct.pack_into("b", buf, 0, speed)
    i2c.writeto_mem(device, 0, buf)


def set_angle(angle):
    buf = bytearray(1)
    struct.pack_into("b", buf, 0, angle)
    i2c.writeto_mem(device, 2, buf)


def set_direction(x):
    if x > 200:
        set_angle(65)
    elif x < 50:
        set_angle(115)
    else:
        set_angle(90)


def set_run(x):
    if x > 200:
        set_speed(127)
    elif x < 50:
        set_speed(0)
    else:
        set_speed(86)


# create access-point
ap = network.WLAN(network.AP_IF)
ap.config(essid="ATOM-MOTION")
ap.config(max_clients=10)
ap.active(True)

# create server socket
server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(("", 12000))

while True:

    try:
        np[0] = (0, 255, 0)
        np.write()
        direction, address_client = server.recvfrom(2048)
        out = struct.unpack("BBB", direction)
        set_direction(out[0])
        set_run(out[1])
        print(out)

    except:
        pass

    utime.sleep_ms(500)