fix 4.1 bugs

Author: previ

coderbot.cfg

@@ -35,11 +35,12 @@
   "ctrl_hud_image":"",
   "load_at_start":"",
   "sound_start":"$startup.wav",
-  "encoder":"True",
+  "hw_version":"5",
   "audio_volume_level":"100",
   "wifi_mode":"ap",
   "wifi_ssid":"",
   "coderbot_CHANGEMEATFIRSTRUN":"coderbot",
   "packages_installed":"",
-  "admin_password":""
+  "admin_password":"",
+  "hardware_version":"5"
 }

coderbot.py

@@ -54,6 +54,8 @@ class GPIO_CODERBOT_V_4():
     PIN_ENCODER_RIGHT_A = 15
     PIN_ENCODER_RIGHT_B = 12
 
+    HAS_ENCODER = False
+
 class GPIO_CODERBOT_V_5():
     # motors
     PIN_MOTOR_ENABLE = None #22
@@ -82,29 +84,36 @@ class GPIO_CODERBOT_V_5():
     PIN_ENCODER_RIGHT_A = 24 #15
     PIN_ENCODER_RIGHT_B = 25 #12
 
+    HAS_ENCODER = True
+
 # PWM
 PWM_FREQUENCY = 100 #Hz
 PWM_RANGE = 100 #0-100
 
+HW_VERSIONS = {
+  "4": GPIO_CODERBOT_V_4(),
+  "5": GPIO_CODERBOT_V_5()
+}
+
 class CoderBot(object):
 
     # pylint: disable=too-many-instance-attributes
 
-    def __init__(self, motor_trim_factor=1.0, encoder=True):
+    def __init__(self, motor_trim_factor=1.0, hw_version="5"):
         try:
             self._mpu = mpu.AccelGyroMag()
             logging.info("MPU available")
         except:
             logging.info("MPU not available")
 
-        self.GPIOS = GPIO_CODERBOT_V_5()
+        self.GPIOS = HW_VERSIONS.get(hw_version, GPIO_CODERBOT_V_5())
         self._pin_out = [self.GPIOS.PIN_LEFT_FORWARD, self.GPIOS.PIN_RIGHT_FORWARD, self.GPIOS.PIN_LEFT_BACKWARD, self.GPIOS.PIN_RIGHT_BACKWARD, self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
         self.pi = pigpio.pi('localhost')
         self.pi.set_mode(self.GPIOS.PIN_PUSHBUTTON, pigpio.INPUT)
         self._cb = dict()
         self._cb_last_tick = dict()
         self._cb_elapse = dict()
-        self._encoder = encoder
+        self._encoder = self.GPIOS.HAS_ENCODER
         self._motor_trim_factor = motor_trim_factor
         self._twin_motors_enc = WheelsAxel(
             self.pi,

data/defaults/config.json

@@ -35,11 +35,12 @@
   "ctrl_hud_image":"",
   "load_at_start":"",
   "sound_start":"$startup.wav",
-  "encoder":"True",
+  "hw_version":"5",
   "audio_volume_level":"100",
   "wifi_mode":"ap",
   "wifi_ssid":"",
   "coderbot_CHANGEMEATFIRSTRUN":"coderbot",
   "packages_installed":"",
-  "admin_password":""
+  "admin_password":"",
+  "hardware_version": "5"  
 }

main.py

@@ -461,11 +461,11 @@ def remove_doreset_file():
         pass
 
 def align_wifi_config():
-  out = os.popen("sudo ./wifi.py getcfg --ssid").read()
-  if "coderbot_" in out:
-    app.bot_config["wifi_ssid"] = out.split()[0]
-    Config.write(app.bot_config)
-    app.bot_config = Config.get()
+    out = os.popen("sudo ./wifi.py getcfg --ssid").read()
+    if "coderbot_" in out:
+        app.bot_config["wifi_ssid"] = out.split()[0]
+        Config.write(app.bot_config)
+        app.bot_config = Config.get()
 
 # Finally, get the server running
 def run_server():
@@ -476,7 +476,7 @@ def run_server():
             app.bot_config = Config.read()
             align_wifi_config()
             bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
-                                        encoder=bool(app.bot_config.get('encoder')))
+                                        encoder=bool(app.bot_config.get('encoder')), encoder=bool(app.bot_config.get('encoder')))
             audio = Audio.get_instance()
             audio.say(app.bot_config.get("sound_start"))