.gitignore

@@ -1 +0,0 @@
-drive/opt/drive-ctl/__pycache__/

README.md

@@ -193,25 +193,11 @@ For Web-UI-Controller you need to have access to the raspberry-pi i.e. via a hot
     sudo apt install -y python3-venv
     python3 -m venv /opt/drive-ctl-venv
 
-    sudo chown -R $USER:$USER /opt/drive-ctl-venv
     /opt/drive-ctl-venv/bin/pip install fastapi uvicorn pyserial
 
     source /opt/drive-ctl-venv/bin/activate
     pip install fastapi uvicorn pyserial
 
-Configure Arduino-USB-ID
-
-    ls -l /dev/serial/by-id/ 2>/dev/null
-
-Example Output
-
-    usb-1a86_USB2.0-Serial-if00-port0 -> ../../ttyUSB0
-
-Watch USB devices while replugging
-
-    dmesg -T | tail -n 80
-
-Configure the USB-Device-ID in /opt/helva-robot/drive/opt/drive-ctl/server.py
 
 ### Activate Web Control Interface
 
@@ -237,14 +223,4 @@ Check Serial device is stable, otherwise create a udev rule
 
     http://pi-ip/drive/
 
-### Debug drive-ctl WebUI
-
-check local webservice
-
-    curl -s http://127.0.0.1:8002/health
-
-should be -> {"ok": true, ... } -> otherwise look at the logs:
-
-    journalctl -u drive-ctl -n 80 --no-pager
-
 

drive/etc/nginx/snippets/drive.conf

@@ -1,16 +1,15 @@
 
-  location ^~ /drive/ {
+  location /drive/ {
     alias /opt/helva-robot/drive/var/www/drive/;
     try_files $uri $uri/ /drive/index.html;
   }
 
-  location = /drive-ws {
+  location /drive-ws {
     proxy_pass http://127.0.0.1:8002/ws;
     proxy_http_version 1.1;
     proxy_set_header Upgrade $http_upgrade;
     proxy_set_header Connection "Upgrade";
     proxy_set_header Host $host;
-    proxy_read_timeout 3600;
   }
 
   location /drive-health {

drive/opt/drive-ctl/server.py

@@ -5,11 +5,11 @@ import serial
 from fastapi import FastAPI, WebSocket, WebSocketDisconnect
 from fastapi.responses import HTMLResponse
 
-SERIAL_PORT = "/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"   # ggf. /dev/ttyUSB0
+SERIAL_PORT = "/dev/ttyACM0"   # ggf. /dev/ttyUSB0
 BAUD = 115200
 
 # Safety: if websocket stops sending, we also stop.
-STOP_AFTER_SEC = 0.5
+STOP_AFTER_SEC = 0.35
 
 app = FastAPI()
 
@@ -35,9 +35,6 @@ async def ws(websocket: WebSocket):
   global last_msg_ts
   await websocket.accept()
 
-  last_msg_ts = time.time()
-  send_lr(0, 0)
-
   async def watchdog():
     while True:
       await asyncio.sleep(0.05)

drive/var/www/drive/index.html

@@ -265,22 +265,7 @@
     lastL = L; lastR = R;
     readoutEl.textContent = `T ${throttle.toFixed(2)} | Turn ${turn.toFixed(2)}  →  L ${L} | R ${R}`;
 
-    // sendLR(L, R, force);
+    sendLR(L, R, force);
-
-    // ---- Heartbeat: keep sending current values while driving ----
-    setInterval(() => {
-      // wenn nicht verbunden -> nix
-      if (!connected) return;
-
-      // Wenn du NUR beim aktiven Fahren senden willst:
-      const driving = (Math.abs(throttle) > 0.02) || (Math.abs(turn) > 0.02);
-
-      if (driving) {
-        // erzwinge Senden auch wenn sich nichts geändert hat
-        sendLR(lastL, lastR, true);
-      }
-}, 400); // 40 Hz
-
   }
 
   function hardStop() {

face/etc/nginx/sites-available/face

@@ -2,8 +2,6 @@ server {
     listen 80;
     server_name _;
 
-    include /opt/helva-robot/drive/etc/nginx/snippets/drive.conf;
-
     root /opt/helva-robot/face/var/www/html;
     index index.html;
 
@@ -33,5 +31,6 @@ server {
         add_header Cache-Control no-cache;
     }
 
+    include /opt/helva-robot/drive/etc/nginx/snippets/drive.conf;
 }