rover.ino

int ees_mootor_parem_enable = 12;
int ees_mootor_parem_pwm = 3;
int ees_mootor_vasak_enable = 8;
int ees_mootor_vasak_pwm = 11;
int taga_mootor_parem_enable = 7;
int taga_mootor_parem_pwm = 9;
int taga_mootor_vasak_enable = 5;
int taga_mootor_vasak_pwm = 10;
int kaugus_parem = A2;
int kaugus_vasak = A0;
int kaugus_kesk = A1;

void setup()  { 
  pinMode(ees_mootor_parem_enable, OUTPUT);
  pinMode(ees_mootor_vasak_enable, OUTPUT);
  pinMode(taga_mootor_parem_enable, OUTPUT);
  pinMode(taga_mootor_vasak_enable, OUTPUT);
  pinMode(ees_mootor_parem_pwm, OUTPUT);
  pinMode(ees_mootor_vasak_pwm, OUTPUT);
  pinMode(taga_mootor_parem_pwm, OUTPUT);
  pinMode(taga_mootor_vasak_pwm, OUTPUT);
  
  Serial.begin(9600);

} 

// the loop routine runs over and over again forever:
void loop()  {
  // buffer for the data
  int buf[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
  
  // wait for first byte
  while((buf[0] = Serial.read()) == -1);
  // test if it's good, and if not send it back as a error
  if (buf[0] != 0xAA) {
    Serial.print("ER ");
    Serial.println(buf[0], HEX);
    return;
  }
  
  //wait for second byte
  while((buf[1] = Serial.read()) == -1);
  // test if it's good, and if not send it back as a error
  if (buf[1] != 0xAA) {
    Serial.print("ER ");
    for (int i = 0; i < 2; i++) {
      Serial.print(buf[i], HEX);
      Serial.print(":");
    }
    Serial.println();
    return;
  }
  
  //wait for third and the final byte of the packet start
  while((buf[2] = Serial.read()) == -1);
  // test if it's good, and if not send it back as a error
  if (!((buf[2] == 1) || (buf[2] == 0))) {
    Serial.print("ER ");
    for (int i = 0; i < 3; i++) {
      Serial.print(buf[i], HEX);
      Serial.print(":");
    }
    Serial.println();
    return;
  }
  
  // read rest of the packet
  for (int i =3; i < 10; i++) {
    while((buf[i] = Serial.read()) == -1);
  }
  
  
  // send back a confirm with all the recived data
  Serial.print("OK ");
  for (int i = 0; i < 10; i++) {
    Serial.print(buf[i], HEX);
    Serial.print(":");
  }
  Serial.println();
  
  // configure motors
  digitalWrite(ees_mootor_parem_enable, buf[2]);
  digitalWrite(ees_mootor_vasak_enable, buf[3]);
  digitalWrite(taga_mootor_parem_enable, buf[4]);
  digitalWrite(taga_mootor_vasak_enable, buf[5]);
  analogWrite(ees_mootor_parem_pwm, buf[6]);
  analogWrite(ees_mootor_vasak_pwm, buf[7]);
  analogWrite(taga_mootor_parem_pwm, buf[8]);
  analogWrite(taga_mootor_vasak_pwm, buf[9]);
}

rover.py

import serial
import struct
from time import sleep
ser = serial.Serial("/dev/ttyACM0")
"0xAA,  0xAA,  1,   1,   1,   1,   255,   255,   255,   255"
"start, start, dir, dir, dir, dir, speed, speed, speed, speed"
#p = struct.pack("10B", 0xAA, 0xAA, 1,0,0,0, 0,0,0,0)
#p = struct.pack("B", 170)
#print("send:", ":".join("{:02x}".format(c) for c in p))
#ser.write(p)
# v = ser.read(2)
# if v == b'OK':
#     print(v, ":".join("{:02x}".format(c) for c in ser.read(10)))
# else:
#     print(v)
#exit()
def speed(s, d):
    data = [0xAA, 0xAA] + d + [s,s,s,s]
    p = struct.pack("10B", *data)
    retry=1
    while retry:
        print("->", ":".join("{:02x}".format(c) for c in p))
        ser.write(p)
        status_line = ser.readline().decode()
        status, data = status_line.split(" ")
        data = [int(x, 16) for x in data.split(":")[:-1]]
        data = ":".join("{:02x}".format(c) for c in data)
        if status.startswith("OK"):
            print(status, data)
            retry = 0
        elif status.startswith("ER"):
            print(status, data)
            retry -= 1

speed(255, [0,1,1,0])
sleep(2)
speed(0, [0,0,0,0])
#exit()
speed(100, [0,1,1,0])
sleep(0.5)
speed(100, [0,0,0,0])
sleep(1)
speed(100, [1,0,0,1])
sleep(0.5)
speed(100, [1,1,1,1])
sleep(1)
speed(0, [0,0,0,0])

# while True:
#     speed(40)
#     continue
#     for x in range(200):
#         speed(x)
#     for x in range(200, 0, -1):
#         speed(x)

# import socket
# port = 5000
# s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# s.bind(("", port))
# print "waiting on port:", port
# while 1:
#     data, addr = s.recvfrom(1024)
#     print data