Laptop_Fernsteuerung.py

import socket
from PCA9685 import PCA9685
from AlphaBot2 import AlphaBot2

pwm=PCA9685(0x40)

pwm.setPWMFreq(50)

#Set the Horizontal servo parameters
HPulse = 1050 #Sets the initial Pulse 50=> 80 grad rechts, 1050 => 0 1850=> 80 grad links
HStep = 0     #Sets the initial step length
pwm.setServoPulse(0,HPulse)

#Set the vertical servo parameters
VPulse = 1050  #Sets the initial Pulse 50 => 85 grad oben, 1050 gerade 1500 45 grad unten
VStep = 0      #Sets the initial step length
pwm.setServoPulse(1,VPulse)

HOST = '0.0.0.0' # Server IP or Hostname
PORT = 12352 # Pick an open Port (1000+ recommended), must match the client sport

def degree_to_Pulse(angle,min_angle=-80,max_angle=80,min_pulse=50,max_pulse=1850,min_allowed_pulse=50,max_allowed_pulse=1850):
	print('angle: ',angle)
	angle=-angle ## positive angles => right or up
	pulse = (angle-min_angle)/(max_angle-min_angle)*(max_pulse-min_pulse)+min_pulse
	if pulse>max_allowed_pulse:
		pulse = max_allowed_pulse
	if pulse<min_allowed_pulse:
		pulse = int(min_allowed_pulse)
	return(pulse)
	



if __name__=="__main__":
	# initialize Alpha Bot 
	
	AlphaBot = AlphaBot2()
	# initialize serial connection to laptop
	s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
	print ('Socket created')
	#managing error exception
	try:
		s.bind((HOST, PORT))
	except socket.error:
		print('Bind failed ')

	s.listen(5)
	print('Socket awaiting messages')
	conn, addr = s.accept()
	print('Connected')

	# awaiting for message
	while True:
		data = conn.recv(1024).decode()
		print('I sent a message back in response to: ' + data)
		reply = ''

		# process your message
		if data == 'Hello':
			reply = 'Hi, back!'
		elif data == 'This is important':
			reply = 'OK, I have done the important thing you have asked me!'
			
		elif data.startswith('servo'):
			try:
				h=int(data.split(' ')[1])
				h_pulse = int(degree_to_Pulse(h))
				v=int(data.split(' ')[2])
				v_pulse = int(degree_to_Pulse(v,max_allowed_pulse=1500))
				pwm.setServoPulse(0,h_pulse)
				pwm.setServoPulse(1,v_pulse)
				reply = 'servo set to h_pulse='+str(h)+' v_pulse='+str(v)
				
			except:
				reply = 'servo message corrupt'

		elif data.startswith('motor'):
			try:
				left=int(data.split(' ')[1])
				right=int(data.split(' ')[2])
				print(left,right)
				
				AlphaBot.setMotor(left, right)
				reply = 'motor set to left '+str(left)+' right='+str(right)
				
			except:
				reply = 'servo message corrupt'




		#and so on and on until...
		elif data == 'quit':
			conn.send('Terminating')
			break
		else:
			reply = 'Unknown command'

		# Sending reply
		reply  = bytes(reply,'utf-8')
		conn.send(reply)
	conn.close() # Close connections