code.py

from XRPLib.defaults import drivetrain, servo_one

import wifi
import time

from ws_connection import ClientClosedError
from ws_server import WebSocketServer, WebSocketClient

deadline = time.ticks_add(time.ticks_ms(), 300)

class TestClient(WebSocketClient):
    def __init__(self, conn):
        super().__init__(conn)

    def process(self):
        try:
            msg = self.connection.read()
            if not msg:
                return
            msg = msg.decode("utf-8")
            msg = msg.split("\n")[-2]
            msg = msg.split(" ")
            
            deadline = time.ticks_add(time.ticks_ms(), 300)
            
            # tires.apply_power(int(msg[0]), int(msg[1]), int(msg[2]), int(msg[3]))
            print("driving", float(msg[0]), float(msg[1]), float(msg[2]))
            drivetrain.set_effort(float(msg[0]), float(msg[1]))
            
            servo_one.set_angle(float(msg[2]))
            
        except ClientClosedError:
            print("Connection close error")
            self.connection.close()
        except Exception as e:
            print("exception:" + str(e) + "\n")
            raise e

class TestServer(WebSocketServer):
    def __init__(self):
        super().__init__("index.html", 100)

    def _make_client(self, conn):
        return TestClient(conn)

wifi.run()

server = TestServer()
server.start()

while True:
    server.process_all()
    if time.ticks_diff(deadline, time.ticks_ms()) < 0:
        drivetrain.stop()
        deadline = time.ticks_add(time.ticks_ms(), 100000)

server.stop()