Make esp menu reset smoother

lib/cube/esp_config.py

@@ -249,7 +249,6 @@ class Esp:
             response = self.repeat_cmd(Esp.COM_BT_PIN, 50)
             self.cmd_stop()
             return response
-            utime.sleep(0.6)
         else:
             return None
 
@@ -269,6 +268,12 @@ class Esp:
         self.cmd_stop()
         utime.sleep(0.6)
         return response
+
+    def set_name_nonblocking(self, name: str, timeout=50):
+        self.cmd_start()
+        response = self.repeat_str(Esp.COM_NAME, name, timeout)
+        self.cmd_stop()
+        return response
     
     def set_password(self, password: str, timeout=50):
         self.cmd_start()
@@ -297,6 +302,7 @@ class Esp:
             self.flush()
             self.esp_mode = self.esp_mode_prev
             self.pcf_buttons.set_pin(8, True)
+            utime.sleep(0.01)
 
     def timeout(self):
         self.not_responding += 1

main/main.py

@@ -85,7 +85,7 @@ def main():
             robot.display.centered_text(f'{pin:06d}', 20, 1)
             robot.display.centered_text('?', 30, 1)
             robot.display.text('no', 10, 44, 1)
-            robot.display.centered_text('ok', 90,44, 1)
+            robot.display.centered_text('ok', 44, 1)
 
     # Fill framebuffer with motor test menu
     def display_fill_mot_test(robot, current_motor_test):
@@ -228,7 +228,7 @@ def main():
     bt_pair = False
     bt_connecting = False
     button_values = robot.buttons.pressed()
-    
+    esp_reset = False
     display_show_startup(robot)
 
     # Get a list of user programs
@@ -258,22 +258,26 @@ def main():
     # Loop that shows display, controls menu and starts user programs
     while(True):
         # Connect to and reset ESP32 to BT mode if it is not running
-        if not robot.esp.running() and counter % 20 == 0:
-            robot.esp.reset_non_blocking()
-        if robot.esp.running() and counter == 1000:
-            robot.esp.set_name(esp_default_name,100)
+        
+        if not robot.esp.running() and counter % 10 == 0:
+            s = utime.ticks_ms()
+            robot.esp.reset(200)
+            print("ESP32 reset time: ", utime.ticks_ms() - s)
+            esp_reset_counter = counter
+        if robot.esp.running() and counter - esp_reset_counter == 10:
+            robot.esp.set_name_nonblocking(esp_default_name, 100)
             print("ESP BT name: ", esp_default_name)
-
+        
         bat_voltage = robot.battery.voltage() # Get current battery voltage
         button_values = robot.buttons.pressed() # Get buttons state
         
         # Move menu accordingly to pressed buttons
+        menu_move_v, menu_move_h, menu_debounce, ok_pressed = buttons(robot, 
+                                                                        button_values, robot_state,
+                                                                        menu_move_v, menu_move_h, 
+                                                                        menu_debounce)
+        # Check if buttons were pressed and move menu accordingly
         if not bt_pair:
-            menu_move_v, menu_move_h, menu_debounce, ok_pressed = buttons(robot, 
-                                                                          button_values, robot_state,
-                                                                          menu_move_v, menu_move_h, 
-                                                                          menu_debounce)
-            # Check if buttons were pressed and move menu accordingly
             if menu_debounce == 0:
                 if sensor_test_menu == Menu.SEN_TEST_PORT:
                     if menu_move_v != 0:
@@ -312,9 +316,11 @@ def main():
                 if ok_pressed:
                     robot.esp.send_pair()
                     bt_connecting = True
-                elif button_values[Button.LEFT]:
+                    menu_debounce = 1
+                elif menu_move_h == -1:
                     rejected_pin = pin
                     robot.esp.send_cancel()
+                    menu_debounce = 1
 
         elif current_menu == Menu.MOT_TEST:
             chosen_motor_port = menu_list[current_menu]