ربات کابلی اسپایدرکم برای عکاسی تایم‌لپس

import network
import socket
import uasyncio
import time
import random
from machine import Pin, PWM, time_pulse_us
import stepper
### You need neopixel.py in the same folder
#from neopixel import NeoPixel
### config.py should define something like: password = "mywifi_password"
#import config
##############################################################################
# 0) Configuration
##############################################################################
SSID = "HOME1235"
PASSWORD = "pass1234"
# For controlling the on-board LED
led = Pin("LED", Pin.OUT)
# Create global wlan object
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
##############################################################################
# 1) Wi-Fi Connection Helpers
##############################################################################
def wifi_connect():
"""
Continuously retry Wi-Fi connection until successful.
"""
global wlan
attempt = 0
while True:
attempt += 1
if not wlan.isconnected():
print(f"Attempt {attempt}: Connecting to Wi-Fi...")
wlan.connect(SSID, PASSWORD)
# Wait up to 10 seconds in small increments to see if it connects
max_wait = 10
while max_wait > 0:
if wlan.isconnected():
print("Connected! Network config:", wlan.ifconfig())
return # Exit the function when connected
max_wait -= 1
time.sleep(1)
# If still not connected after 10s, wait a bit before retrying
print("Failed to connect. Retrying in 5 seconds...")
time.sleep(5)
else:
# Already connected
print("Already connected! Network config:", wlan.ifconfig())
return
async def wifi_monitor_task():
"""
Periodically checks if the Wi-Fi is still connected.
If not, it attempts to reconnect.
"""
while True:
if not wlan.isconnected():
print("Wi-Fi dropped; reconnecting...")
try:
wifi_connect()
except RuntimeError as e:
print("Reconnect failed:", e)
await uasyncio.sleep(10)
enm = Pin(0, Pin.OUT)
dirm = Pin(1, Pin.OUT)
stepm = Pin(2, Pin.OUT)
inshot = Pin(3, Pin.IN, Pin.PULL_UP)
outshot = Pin(4, Pin.OUT)
outshot.value(0)
s1 = stepper.Stepper(stepm,dirm,steps_per_rev=800,speed_sps=800)
s1.stop()
s1.overwrite_pos(0)
s1.target(0)
s1.speed(800)
s1.track_target()
current_duty = 0
current_pos = 0
vuelta = 1600
a_pos = 0
b_pos = 0
steps = 0
speed = 800
photos = 20
status = 0
predelay = 1
last_inshot = 1
async def test_status():
global status
global last_inshot
global predelay
while True:
if inshot.value() == 0 and last_inshot == 1 and status == 1:
print("shoot")
last_inshot = 0
#shot()
await uasyncio.sleep(0.1)
outshot.value(1)
await uasyncio.sleep(1)
outshot.value(0)
#await uasyncio.sleep(predelay)
move_step()
last_inshot = 1
await uasyncio.sleep(0.1)
def set_A():
global current_pos
global vuelta
global a_pos
a_pos = current_pos
print ("A_POS:")
print (a_pos)
def go_A():
global current_pos
global vuelta
global a_pos
global s1
s1.target(a_pos)
print ("GO_A:")
print (a_pos)
def go_B():
global current_pos
global vuelta
global b_pos
global s1
s1.target(b_pos)
print ("GO_B:")
print (b_pos)
def set_B():
global current_pos
global vuelta
global b_pos
b_pos = current_pos
print ("B_POS:")
print (b_pos)
calculate_steps()
def minus():
global speed
speed = speed - 100
if speed <= 0:
speed = 0
print ("speed:")
print (speed)
def plus():
global speed
speed = speed + 100
if speed > 6400:
speed = 6400
print ("speed:")
print (speed)
def photo_minus():
global photos
photos = photos - 5
if photos <= 0:
photos = 0
print ("photos:")
print (photos)
def photo_plus():
global photos
photos = photos + 5
if photos > 1000:
photos = 1000
print ("photos:")
print (photos)
def start():
global status
global current_pos
global a_pos
current_pos = a_pos
status = 1
print("start")
def stop():
global status
status = 0
print("stop")
def e_stop():
enm.value(1)
print ("E_Stop")
def shot():
await uasyncio.sleep(0.1)
outshot.value(1)
await uasyncio.sleep(1)
outshot.value(0)
def move_left():
global current_pos
global vuelta
current_pos = current_pos + vuelta
s1.target(current_pos)
print ("Left")
def move_right():
global current_pos
global vuelta
current_pos = current_pos - vuelta
s1.target(current_pos)
print ("Right")
def calculate_steps():
global a_pos
global b_pos
global photos
global steps
steps = abs(int((a_pos - b_pos)/(photos-1)))
if b_pos < a_pos:
steps = -steps
print(steps)
def move_step():
global steps
global current_pos
global s1
global status
global last_inshot
global a_pos
global b_pos
current_pos = current_pos + steps
s1.target(current_pos)
print(current_pos)
if b_pos < a_pos:
if current_pos <= b_pos:
status = 0
print("finish")
elif b_pos > a_pos:
if current_pos >= b_pos:
status = 0
print("finish")
def web_page():
global photos
global steps
global speed
global current_pos
global status
html = f"""
<!DOCTYPE html>
<html>
<head>
<title>Zumo Robot Control</title>
</head>
<center><b>
<h1>SPiDER CAM Robot Control</h1>
<table><tr>
<td><form action="./left">
<input type="submit" value="Left" style="height:120px; width:120px" />
</form></td>
<td><form action="./stop">
<input type="submit" value="Stop" style="height:120px; width:120px" />
</form></td>
<td><form action="./right">
<input type="submit" value="Right" style="height:120px; width:120px" />
</form></td>
</tr></table>
<table><tr>
<td><form action="./photominus">
<input type="submit" value="---" style="height:120px; width:120px" />
</form></td>
<td><form action="./stop">
<input type="submit" value="{photos}" style="height:120px; width:120px" />
</form></td>
<td><form action="./photoplus">
<input type="submit" value="+++" style="height:120px; width:120px" />
</form></td>
</tr></table>
<table><tr>
<td><form action="./seta">
<input type="submit" value="setA" style="height:120px; width:120px" />
</form></td>
<td><form action="./stop">
<input type="submit" value="step:{steps}" style="height:120px; width:120px" />
</form></td>
<td><form action="./setb">
<input type="submit" value="setB" style="height:120px; width:120px" />
</form></td>
</tr></table>
<table><tr>
<td><form action="./goa">
<input type="submit" value="Go A" style="height:120px; width:120px" />
</form></td>
<td><form action="./stop">
<input type="submit" value="a:{current_pos}" style="height:120px; width:120px" />
</form></td>
<td><form action="./gob">
<input type="submit" value="Go B" style="height:120px; width:120px" />
</form></td>
</tr></table>
<table><tr>
<td><form action="./minus">
<input type="submit" value="-spd-" style="height:120px; width:120px" />
</form></td>
<td><form action="./stop">
<input type="submit" value="spd:{speed}" style="height:120px; width:120px" />
</form></td>
<td><form action="./plus">
<input type="submit" value="+spd+" style="height:120px; width:120px" />
</form></td>
</tr></table>
<table><tr>
<td><form action="./start">
<input type="submit" value="start" style="height:120px; width:120px" />
</form></td>
<td><form action="./stop">
<input type="submit" value="stop" style="height:120px; width:120px" />
</form></td>
<td><form action="./lock">
<input type="submit" value="{status}" style="height:120px; width:120px" />
</form></td>
</tr></table>
<form action="./estop">
<input type="submit" value="E-Stop" style="height:120px; width:120px" />
</form>
</body>
</html>
"""
return str(html)
##############################################################################
# 7) Asynchronous Tasks
##############################################################################
async def handle_client(reader, writer):
"""
Handle one HTTP client request (non-blocking).
"""
global emergency_stop
try:
request = await reader.read(1024)
except Exception as e:
print("Error reading request:", e)
return
request_str = request.decode() if request else ""
# Movement only if no emergency stop
if "GET /favicon.ico" in request:
await writer.aclose()
return
if "/seta?" in request_str:
set_A()
elif "/setb?" in request_str:
set_B()
elif "/goa?" in request_str:
go_A()
elif "/gob?" in request_str:
go_B()
elif "/photominus?" in request_str:
photo_minus()
elif "/photoplus?" in request_str:
photo_plus()
elif "/minus?" in request_str:
minus()
elif "/plus?" in request_str:
plus()
elif "/start?" in request_str:
start()
elif "/stop?" in request_str:
stop()
elif "/left?" in request_str:
move_left()
elif "/right?" in request_str:
move_right()
elif "/estop?" in request_str:
e_stop()
# Send response
resp = web_page()
await writer.awrite("HTTP/1.1 200 OK\r\n")
await writer.awrite("Content-Type: text/html\r\n")
await writer.awrite("Connection: close\r\n\r\n")
await writer.awrite(resp)
await writer.drain()
await writer.wait_closed()
#await writer.aclose()
async def webserver_task():
server = await uasyncio.start_server(handle_client, "0.0.0.0", 80)
print("Web server listening on http://{}:80".format(wlan.ifconfig()[0]))
return server
##############################################################################
# 8) Main Entry Point
##############################################################################
async def main():
# 1) Ensure we are connected to Wi-Fi at startup
wifi_connect()
# 2) Create Wi-Fi monitor task to reconnect if dropped
uasyncio.create_task(wifi_monitor_task())
# 3) Start distance measure task
uasyncio.create_task(test_status())
# 4) Start webserver
server = await webserver_task()
# 5) Simple blink in a loop
while True:
led.value(1)
await uasyncio.sleep(0.1) # Non-blocking
led.value(0)
await uasyncio.sleep(1)
import sys
try:
uasyncio.run(main())
except Exception as e:
# Open (or create) error.log in append mode
with open("error.log", "a") as f:
# Print a full traceback to the file
sys.print_exception(e, f)
print("An error occurred and has been logged to error.log.")