python flask robot control app

appControl.py

'''
	Raspberry Pi robot controller
'''
import RPi.GPIO as GPIO
from flask import Flask, render_template, request, jsonify
from time import sleep, time
import board
import busio


# Create the I2C interface.
i2c = busio.I2C(board.SCL, board.SDA)

# define varables

robotStatus = {'motor1': 0, 'motor2': 0}
lastAction = "stop"


# motor control

try:
    # Attempt to import the Adafruit  HAT library. If this fails, because we're running somewhere
    # that doesn't have the library, we create dummy functions for set_speeds and stop_motors which
    # just print out what they'd have done. This is a fairly common way to deal with hardware that
    # may or may not exist! Obviously if you're actually running this on one of Brian's robots you
    # should have the Explorer HAT libraries installed, this is really just so I can test on my big
    # linux desktop machine when coding.

    from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor

    # define an Adafruit Motor kit object

    from adafruit_motorkit import MotorKit
    mh = MotorKit()
    print('Adafruit Motor kit library available.')


    def set_speeds(power_left, power_right):
        """
        As we have an motor hat, we can use the motors

        :param power_left:
            Power to send to left motor
        :param power_right:
            Power to send to right motor, will be inverted to reflect chassis layout
        """
        print(power_left, power_right)

        mh.motor1.throttle = power_right
        mh.motor2.throttle = power_right
        mh.motor3.throttle = power_left
        mh.motor4.throttle = power_left

    def stop_motors():
        """
        As we have an motor hat, stop the motors using their motors call
        """
        mh.motor1.throttle = 0
        mh.motor2.throttle = 0
        mh.motor3.throttle = 0
        mh.motor4.throttle = 0


except ImportError:

    print('No Adafruit Motor HAT library available, using dummy functions.')


    def set_speeds(power_left, power_right):
        """
        No motor hat - print what we would have sent to it if we'd had one.
        """
        print('Left: {}, Right: {}'.format(power_left, power_right))
        sleep(0.1)


    def stop_motors():
        """
        No motor hat, so just print a message.
        """
        print('Motors stopping')

# Web app

app = Flask(__name__)


GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
# define actuators GPIOs

display = 26
# initialize GPIO status variables

displaySts = 0
# Define led pins as output

GPIO.setup(display, GPIO.OUT)
# turn leds OFF

GPIO.output(display, GPIO.LOW)


@app.route("/")
def index():

    templateData = {
        'title': 'Remote Pi Noon',
    }
    return render_template('index.html', **templateData)

@app.route("/<deviceName>/<action>")  # , methods = ['POST'] )
def action(deviceName, action):

    global robotStatus, lastAction

    if deviceName == 'motor' and lastAction != action:
        print(f"action: {action}")
        if action == "off":
            robotStatus["motor1"] = 0
            robotStatus["motor2"] = 0
            stop_motors()

        if action == "forward":
            robotStatus["motor1"] = 1
            robotStatus["motor2"] = 1

        if action == "backward":
            robotStatus["motor1"] = -1
            robotStatus["motor2"] = -1

        if action == "left":
            robotStatus["motor1"] = -1
            robotStatus["motor2"] = 1

        if action == "right":
            robotStatus["motor1"] = 1
            robotStatus["motor2"] = -1

        # set motor speeds
        set_speeds(robotStatus["motor1"], robotStatus["motor2"])

    lastAction = action
    print(f"last action: {lastAction}")


    return jsonify(robotStatus)


if __name__ == "__main__":
    app.run(host='0.0.0.0', port=5080, debug=False) # debug switched off and port 5080