Hi all!
I'm working on developing a lab for class using the Alvik. We want to log some data while the bot is running and I figured the best way to do this was to use the built-in esp32 chip. I'm attempting to follow the instructions in the Alvik documentation but we're having issues.
Firstly, here is the code I'm using, pulled directly from the docs.
import network
import socket
from arduino_alvik import ArduinoAlvik
from time import sleep_ms
# Wi-Fi credentials
SSID = "my ssid"
PASSWORD = ""
sta_if = network.WLAN(network.STA_IF)
sta_if.active(True)
if not sta_if.isconnected():
print("\nConnecting to network...", SSID)
sta_if.connect(SSID)
# Wait for connection with a timeout
timeout = 10 # 10 seconds timeout
for _ in range(timeout * 10):
if sta_if.isconnected():
break
sleep_ms(100)
if sta_if.isconnected():
print("Connected to WiFi. IP address:", sta_if.ifconfig()[0])
else:
print("Failed to connect to WiFi. Please check your credentials and signal strength.")
# Initialize the robot
alvik = ArduinoAlvik()
alvik.begin()
sleep_ms(5000)
# HTML for the web interface
html = """
<!DOCTYPE html>
<html>
<head>
<title>Alvik Robot Control</title>
</head>
<body>
<h1>Control Alvik Robot</h1>
<form action="/up">
<button type="submit">Up</button>
</form>
<form action="/down">
<button type="submit">Down</button>
</form>
<form action="/left">
<button type="submit">Left</button>
</form>
<form action="/right">
<button type="submit">Right</button>
</form>
</body>
</html>
"""
# Specify a port
port = 8080
addr = socket.getaddrinfo('0.0.0.0', port)[0][-1]
s = socket.socket()
s.bind(addr)
s.listen(5)
s.settimeout(5)
print(f'Listening on {sta_if.ifconfig()[0]}:{port}')
# Function to handle incoming HTTP requests
def handle_request(conn):
try:
request = conn.recv(1024).decode('utf-8')
first_line = request.split('\n')[0] # Get the first line of the request
path = first_line.split(' ')[1] # Extract the path (e.g., "/up")
# Strip query strings (e.g., "/up?")
if '?' in path:
path = path.split('?')[0]
print(f"Request path: {path}")
# Ignore favicon requests
if path == '/favicon.ico':
conn.send('HTTP/1.1 204 No Content\n')
conn.send('Connection: close\n\n')
return
# Control the robot based on the request path
if path == '/up':
alvik.set_wheels_speed(30, 30)
elif path == '/down':
alvik.set_wheels_speed(-30, -30)
elif path == '/left':
alvik.set_wheels_speed(-30, 30)
elif path == '/right':
alvik.set_wheels_speed(30, -30)
else:
alvik.brake()
# Send the response for valid paths
conn.send('HTTP/1.1 200 OK\n')
conn.send('Content-Type: text/html\n')
conn.send('Connection: close\n\n')
conn.sendall(html)
except OSError as e:
if e.errno == 104: # ECONNRESET error
print("Connection reset by client.")
else:
print(f"Error: {e}")
finally:
conn.close()
# Main loop to handle incoming connections
try:
while True:
try:
conn, addr = s.accept()
print('Connection from', addr)
handle_request(conn)
except OSError as e:
if e.errno == 116: # ETIMEDOUT error
print("Waiting for connection...")
elif e.errno == 104: # ECONNRESET error
print("Connection reset by client.")
else:
print(f"Accept error: {e}")
except KeyboardInterrupt:
print("Server stopped")
s.close()
alvik.stop()
I replaced the ssid and password with the necessary credentials (we don't have a password on the wifi I'm trying to use). We're running this in ArduinoLab with Micropython, since that is what was recommended for the Alvik. I was able to get this working while connected to a hotspot, but now we're trying with a different wifi. I get this message in the terminal
OKConnected to WiFi. IP address: XX.X.XXX.XXX
and eventually
Listening on XX.X.XXX.XXX:8080
which tells me it's made an ip and connected. However, after this I just get "Waiting for connection..." over and over again, and pinging the ip address gives me a timeout error. So something is wrong.
I haven't been able to get this working on Arduino IDE, as I get "dfu-util: No DFU capable USB device available" when I attempt to upload even just a blink() sketch to the board (yes I connected the Arduino Nano ESP32 board and a usb port so that isn't the issue. I suspect this is due to the Nano being part of the Alvik and not it's own board), So I think I have to use MicroPython.
I know this is possible because we got it working with a hotspot, like we had a website and were able to send a command to make the bot move, but that isn't sustainable for lab purposes. Does anyone have any advice/insight onto this subject? I'd appreciate just about anything. Thank you!!
