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Topic starter 16/02/2024 8:41 pm
Hi everyone.
At the beginning, Otto only works from Begginer web page (only motion)... after some troubleshooting it all began to work when Upload libraries was done and code page was fully fucntional.
Then I try to command Otto from remote control page......--> new driver was installed and... continous resets were happenning... and nono files under "Files in Otto" are shown.
How can I fix this problem?
Is there a way to set the ESP32 with initial code... Just to work from the web code page....?
Â
Thank you.Â
16/02/2024 10:04 pm
Hi Bruno,Â
To "reset" the files in your Otto robot you can:Â
- Reinstall Micropython by going to the uploader page.Â
- Upload libraries. From webcode, press the config button and upload the libraries again.
After that, if you check files in Otto you should have only the files to use your Otto with Webcode and Beginner Mode.Â
Notice that to use webcontrol, another code is required.Â
Camilo reacted
Topic starter 16/02/2024 10:48 pm
Thank you, Ivan.
It worked perfectly as you described. Five stars for you.
Â
How can we program using bluetooth... I don't see how to send motion commands with the USB cable plugged with Otto. Or how to follow the line.....Â
And how to begin with the code once the robot is unplugged?
Thank you, anyway.
Â
Â
Â
16/02/2024 11:01 pm
@brunost I am glad it worked for you!Â
I think there is not a way to code without the cable yet. Only the webcontrol is a way to control Otto without cable. The other option is to upload the code you make in webcode into your Otto. Then you can unplug it and it will run the code you uploaded it. To do this, just make your code and press the button in the right of the stop button, it will upload the code to Otto as a file called main.py. Otto will execute that file every time you turn it on.Â
17/02/2024 10:21 pm
18/02/2024 4:05 am
@isthar sorry for mentioning 3 times, but the forum is not uploading the file, because the type of file is not allowed.Â
I am writing the code here:Â
from machine import Pin, Timer
from time import sleep_ms
import ubluetooth
import ottobuzzer
import ottoneopixel
from ottomotor import OttoMotor
import ottosensors
line = ottosensors.FollowLine()
blue_led = Pin(2, Pin.OUT)
buzzer = ottobuzzer.OttoBuzzer(25)
ultrasound = ottoneopixel.OttoUltrasonic()
ring = ottoneopixel.OttoNeoPixel(4, 13)
analog = Pin(26, Pin.IN)
ring.setBrightness(5)
toggleStatus = False
def decodeColor(color):
if color == "0":
return "000000"
elif color == "1":
return "FFFFFF"
elif color == "2":
return "FF0000"
elif color == "3":
return "FF8000"
elif color == "4":
return "FFFF00"
elif color == "5":
return "7DFF00"
elif color == "6":
return "00FF00"
elif color == "7":
return "00FF7D"
elif color == "8":
return "00FFFF"
elif color == "9":
return "007DFF"
elif color == "a":
return "0000FF"
elif color == "b":
return "7D00FF"
elif color == "c":
return "FF00FF"
elif color == "d":
return "FF007D"
def JS(v):
if v == 0:
motor = OttoMotor(14, 13)
motor.Stop(1)
elif v == 1:
motor = OttoMotor(14, 13)
motor.Moveloop(-1, 2)
elif v == 2:
motor = OttoMotor(14, 13)
motor.Rotate(1)
elif v == 3:
motor = OttoMotor(14, 13)
motor.Rotate(0)
elif v == 4:
motor = OttoMotor(14, 13)
motor.Moveloop(1, 2)
class BLE():
def __init__(self, name):
self.name = name
self.ble = ubluetooth.BLE()
self.ble.active(True)
self.led = Pin(2, Pin.OUT)
self.timer1 = Timer(0)
self.timer2 = Timer(1)
self.disconnected()
self.ble.irq(self.ble_irq)
self.register()
self.advertiser()
def connected(self):
self.timer1.deinit()
self.timer2.deinit()
def disconnected(self):
self.timer1.init(period=1000, mode=Timer.PERIODIC, callback=lambda t: ring.fillAllRGBRing("AA0000"))
sleep_ms(200)
self.timer2.init(period=1000, mode=Timer.PERIODIC, callback=lambda t: ring.fillAllRGBRing("000000"))
def ble_irq(self, event, data):
global toggleStatus
sliderValue = 0
digitalPinStatus = 0
distance_cm = int(ultrasound.readultrasonicRGB("cm"))
lineRStatus = line.readLineRight()
lineLStatus = line.readLineLeft()
analogValue = analog.value()
txtString = ''
last_js = -1
if event == 1:
'''Connected'''
self.connected()
ring.fillAllRGBRing("00AA00")
self.led(0)
print('Otto connected')
buzzer.playEmoji("S_connection")
ring.fillAllRGBRing("000000")
elif event == 2:
'''Disconnected'''
self.advertiser()
self.disconnected()
buzzer.playEmoji("S_disconnection")
elif event == 3:
'''New message received'''
buffer = self.ble.gatts_read(self.tx)
message = buffer.decode('UTF-8').strip()
if 'Connect-' in message:
print('Type of Otto connected: ')
print(message[8:])
elif 'update' in message:
print('Update robot sensor values')
elif 'forward' in message:
motor = OttoMotor(14, 13)
motor.Moveloop(-1, 2)
print('Go forward')
elif 'right ' in message:
print('Turn right')
motor = OttoMotor(14, 13)
motor.Rotate(1)
elif 'backward' in message:
print('Go backward')
motor = OttoMotor(14, 13)
motor.Moveloop(1, 2)
elif 'left ' in message:
print('Turn left')
motor = OttoMotor(14, 13)
motor.Rotate(0)
elif 'stop' in message:
print('Stop motors')
motor = OttoMotor(14, 13)
motor.Stop(1)
elif 'J' in message:
values = message[1:].split(',')
x, y = map(int, values)
if y < -10:
if x > 10:
js = 5
elif x < -10:
js = 6
else:
js = 1
elif y > 10:
if x > 10:
js = 7
elif x < -10:
js = 8
else:
js = 4
elif x > 10:
js = 2
elif x < -10:
js = 3
else:
js = 0
if js != last_js:
last_js = js
JS(js)
elif 'S' in message:
print('Slider: ')
print(message[1:])
elif message == 'simple':
blue_led.value(not blue_led.value())
digitalPinStatus = blue_led.value()
elif 'dance' in message:
print('Dance move ')
elif 'moonwalk-' in message:
print('Dance move: ')
print(message)
elif 'crossing-' in message:
print('Dance move: ')
print(message)
elif message == 'switchtoggle':
toggleStatus = not toggleStatus
if toggleStatus == True:
ring.fillAllRGBRing("FFFFFF")
else:
ring.fillAllRGBRing("000000")
elif 'mode' in message:
print('Mode activated: ')
print(message)
elif 'T' in message:
print('Text sended: ')
print(message[1:])
txtString = message[1:]
elif 'U' in message:
ultrasound.ultrasonicRGB(message[7:],message[1:7])
elif 'N' in message:
color1 = decodeColor(message[1:2])
color2 = decodeColor(message[2:3])
color3 = decodeColor(message[3:4])
color4 = decodeColor(message[4:5])
color5 = decodeColor(message[5:6])
color6 = decodeColor(message[6:7])
color7 = decodeColor(message[7:8])
color8 = decodeColor(message[8:9])
color9 = decodeColor(message[9:10])
color10 = decodeColor(message[10:11])
color11 = decodeColor(message[11:12])
color12 = decodeColor(message[12:13])
color13 = decodeColor(message[13:14])
ring.fillRGBRing(color1, color2, color3, color4, color5, color6, color7, color8, color9, color10, color11, color12, color13)
elif 'led-' in message:
print('LED Screen: ')
print(message[4:])
elif 'n-' in message:
print('Music note: ')
note = message[2:]
print(message[2:])
if note == "do":
buzzer.tone(buzzer.NOTE_C4, 100, 100)
elif note == "re":
buzzer.tone(buzzer.NOTE_D4, 100, 100)
elif note == "mi":
buzzer.tone(buzzer.NOTE_E4, 100, 100)
elif note == "fa":
buzzer.tone(buzzer.NOTE_F4, 100, 100)
elif note == "sol":
buzzer.tone(buzzer.NOTE_G4, 100, 100)
elif note == "la":
buzzer.tone(buzzer.NOTE_A4, 100, 100)
elif note == "si":
buzzer.tone(buzzer.NOTE_B4, 100, 100)
elif note == "edo":
buzzer.tone(buzzer.NOTE_C5, 100, 100)
elif 'happy' in message:
print('Sound: happy')
buzzer.playEmoji("S_happy")
elif 'sad' in message:
print('Sound: sad')
buzzer.playEmoji("S_sad")
elif 'confused' in message:
print('Sound: confused')
buzzer.playEmoji("S_confused")
elif 'cuddle' in message:
print('Sound: cuddle')
buzzer.playEmoji("S_cuddly")
elif 'oh!' in message:
print('Sound: oh!')
buzzer.playEmoji("S_OhOoh")
elif 'surprised' in message:
print('Sound: surprised')
buzzer.playEmoji("S_surprise")
elif 'disconnect' in message:
print('Sound: disconnect')
buzzer.playEmoji("S_disconnection")
elif 'connect' in message:
print('Sound: connect')
buzzer.playEmoji("S_connection")
elif 'push' in message:
print('Sound: push')
buzzer.playEmoji("S_buttonPushed")
elif '!1' in message:
print('Sound: !1')
buzzer.playEmoji("S_mode1")
elif '!!2' in message:
print('Sound: !!2')
buzzer.playEmoji("S_mode2")
elif '!!!3' in message:
print('Sound: !!!3')
buzzer.playEmoji("S_mode3")
elif 'sleep' in message:
print('Sound: sleep')
buzzer.playEmoji("S_sleeping")
elif 'fart' in message:
print('Sound: fart')
buzzer.playEmoji("S_fart1")
self.send('{"D":'+str(digitalPinStatus)+',"U":'+str(distance_cm)+',"R":'+str(lineRStatus)+',"L":'+str(lineLStatus)+',"A":'+str(analogValue)+',"T":"'+str(txtString)+'"}')
def register(self):
NUS_UUID = '6e400001-b5a3-f393-e0a9-e50e24dcca9e'
TX_UUID = '6e400003-b5a3-f393-e0a9-e50e24dcca9e'
BLE_NUS = ubluetooth.UUID(NUS_UUID)
BLE_TX = (ubluetooth.UUID(TX_UUID), ubluetooth.FLAG_NOTIFY | ubluetooth.FLAG_WRITE | ubluetooth.FLAG_READ)
BLE_UART = (BLE_NUS, (BLE_TX,))
SERVICES = (BLE_UART, )
((self.tx,), ) = self.ble.gatts_register_services(SERVICES)
def send(self, data):
self.ble.gatts_notify(0, self.tx, data + '\n')
def advertiser(self):
name = bytes(self.name, 'UTF-8')
self.ble.gap_advertise(100, bytearray('\x02\x01\x02') + bytearray((len(name) + 1, 0x09)) + name)
ble = BLE("Otto")
