micrOSDevToolKit 2.8.6__tar.gz → 2.8.7__tar.gz

{microsdevtoolkit-2.8.6/micrOSDevToolKit.egg-info → microsdevtoolkit-2.8.7}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: micrOSDevToolKit
-Version: 2.8.6
+Version: 2.8.7
 Summary: Development and deployment environment for micrOS, the diy micropython automation OS (IoT)
 Home-page: https://github.com/BxNxM/micrOS
 Author: Marcell Ban

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/release_info/micrOS_ReleaseInfo/system_analysis_sum.json

@@ -5,11 +5,11 @@
             7
         ],
         "micrOSloader.py": [
-            7.85,
+            7.84,
             1
         ],
         "Hooks.py": [
-            9.41,
+            9.85,
             1
         ],
         "Server.py": [
@@ -17,11 +17,11 @@
             3
         ],
         "Web.py": [
-            9.05,
+            9.23,
             1
         ],
         "Tasks.py": [
-            9.78,
+            9.55,
             12
         ],
         "Config.py": [
@@ -33,11 +33,11 @@
             0
         ],
         "Shell.py": [
-            9.61,
+            9.33,
             1
         ],
         "Notify.py": [
-            9.59,
+            9.26,
             2
         ],
         "Types.py": [
@@ -49,8 +49,8 @@
             4
         ],
         "Common.py": [
-            9.49,
-            32
+            8.48,
+            33
         ],
         "InterConnect.py": [
             9.4,
@@ -69,7 +69,7 @@
             1
         ],
         "Scheduler.py": [
-            9.61,
+            9.62,
             1
         ],
         "microIO.py": [
@@ -77,7 +77,7 @@
             42
         ],
         "micrOS.py": [
-            9.29,
+            9.25,
             1
         ],
         "Interrupts.py": [
@@ -89,11 +89,11 @@
             0
         ],
         "urequests.py": [
-            8.94,
-            4
+            8.79,
+            5
         ],
         "LM_roboarm.py": [
-            7.78,
+            7.76,
             0
         ],
         "LM_stepper.py": [
@@ -121,7 +121,7 @@
             0
         ],
         "LM_rest.py": [
-            7.0,
+            7.78,
             0
         ],
         "LM_oled.py": [
@@ -173,11 +173,11 @@
             0
         ],
         "LM_neopixel.py": [
-            7.59,
+            7.57,
             2
         ],
         "LM_cct.py": [
-            8.83,
+            8.82,
             1
         ],
         "LM_L9110_DCmotor.py": [
@@ -209,7 +209,7 @@
             0
         ],
         "LM_pet_feeder.py": [
-            8.0,
+            7.94,
             0
         ],
         "LM_rencoder.py": [
@@ -217,7 +217,7 @@
             0
         ],
         "LM_keychain.py": [
-            9.18,
+            9.17,
             0
         ],
         "LM_dht11.py": [
@@ -245,11 +245,11 @@
             0
         ],
         "LM_rgb.py": [
-            8.66,
+            8.65,
             1
         ],
         "LM_distance.py": [
-            8.89,
+            8.87,
             0
         ],
         "LM_VL53L0X.py": [
@@ -257,7 +257,7 @@
             0
         ],
         "LM_light_sensor.py": [
-            8.99,
+            8.97,
             0
         ],
         "LM_rp2w.py": [
@@ -265,7 +265,7 @@
             0
         ],
         "LM_presence.py": [
-            8.78,
+            8.77,
             4
         ],
         "LM_trackball.py": [
@@ -277,7 +277,7 @@
             0
         ],
         "LM_dimmer.py": [
-            8.33,
+            8.32,
             1
         ],
         "LM_demo.py": [
@@ -315,11 +315,11 @@
     },
     "summary": {
         "core": [
-            3306,
+            3390,
             23
         ],
         "load": [
-            8711,
+            8732,
             55
         ],
         "core_dep": [
@@ -330,8 +330,8 @@
             true,
             6
         ],
-        "core_score": 9.13,
-        "load_score": 8.19,
-        "version": "2.8.1-0"
+        "core_score": 9.07,
+        "load_score": 8.2,
+        "version": "2.8.4-0"
     }
 }

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/Common.py

@@ -141,7 +141,6 @@ def exec_cmd(cmd, skip_check=False):
     return lm_exec(cmd) if isinstance(cmd, list) else False, f"Invalid type, must be list: {type(cmd)}"
 
 
-
 def notify(text):
     """
     [LM] micrOS common notification handler (Telegram)
@@ -165,6 +164,7 @@ def notify(text):
         return True
     return False
 
+
 def web_endpoint(endpoint, function):
     """
     [LM] Add test endpoint <localhost.local>/endpoint from Load Modules
@@ -215,7 +215,7 @@ def data_logger(f_name, data=None, limit=12, msgobj=None):
 
 def syslog(msg):
     """ Wrapper of errlog_add """
-    return errlog_add(f"[U]{msg}")
+    return errlog_add(f"[U] {msg}")
 
 
 def console(msg):

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/Hooks.py

@@ -19,13 +19,17 @@ Designed by Marcell Ban aka BxNxM
 #################################################################
 from Config import cfgget, cfgput
 from microIO import detect_platform
-from Debug import console_write
+from Debug import console_write, errlog_add
 from Tasks import exec_lm_pipe
 from micropython import mem_info
 from machine import freq
+try:
+    from machine import reset_cause, PWRON_RESET, HARD_RESET, WDT_RESET, DEEPSLEEP_RESET, SOFT_RESET
+except ImportError:
+    reset_cause = None
 try:
     from gc import mem_free
-except:
+except ImportError:
     from simgc import mem_free
 
 #################################################################
@@ -38,9 +42,9 @@ def bootup():
     Executes when system boots up.
     """
     # Execute LMs from boothook config parameter
-    console_write("[BOOT] EXECUTION ...")
+    console_write("[BOOT] EXECUTION...")
+    boot_cause()
     bootasks = cfgget('boothook')
-    bootasks = _migrate(bootasks)                # load_n_init -> load migration (simplify)
     if bootasks is not None and bootasks.lower() != 'n/a':
         console_write(f"|-[BOOT] TASKS: {bootasks}")
         if exec_lm_pipe(bootasks):
@@ -89,15 +93,21 @@ def profiling_info(label=""):
         mem_info()
         console_write("~"*30)
 
-def _migrate(bootstr):
-    """
-    OBSOLETE load_n_init -- REMOVE AT 2023.12
-    Use load instead
-    - auto replace in boothook param
-    """
-    if 'load_n_init' in bootstr:
-        console_write("[MIGRATE] load_n_init -> load")
-        bootstr = bootstr.replace('load_n_init', 'load')
-        cfgput('boothook', bootstr)
-    return bootstr
 
+def boot_cause():
+    reason = 0, "-Unknown"
+    if callable(reset_cause):
+        reason = 0, "Unknown"
+        reset_reason = reset_cause()
+        if reset_reason == PWRON_RESET:
+            reason = 1, "PowerOn"
+        elif reset_reason == HARD_RESET:
+            reason = 2, "HardReset"
+        elif reset_reason == WDT_RESET:
+            reason = 3, "WDTWakeUp"
+        elif reset_reason == DEEPSLEEP_RESET:
+            reason = 4, "DSWakeUp"
+        elif reset_reason == SOFT_RESET:
+            reason = 5, "SoftReset"
+    errlog_add(f"[BOOT] info: {reason[1]}")
+    return reason

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_buzzer.py

@@ -2,7 +2,6 @@ from sys import platform
 from utime import sleep
 from microIO import resolve_pin, pinmap_search
 from Common import micro_task
-import uasyncio as asyncio
 from Types import resolve
 
 
@@ -254,7 +253,7 @@ async def _play(rtttlstr):
         task.out = "Play song..."
         for freq, msec in tune.notes():
             __play_tone(freq, msec)
-            await asyncio.sleep_ms(10)
+            await task.feed(sleep_ms=10)
         task.out = "Song played successfully"
     del tune
 

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_cct.py

@@ -5,7 +5,6 @@ from machine import Pin, PWM
 from sys import platform
 from utime import sleep_ms
 from Common import transition_gen, micro_task
-import uasyncio as asyncio
 from microIO import resolve_pin, pinmap_search
 from random import randint
 from Types import resolve
@@ -229,7 +228,7 @@ def transition(cw=None, ww=None, sec=1.0, wake=False):
                 Data.CWWW_CACHE[0] = cw_val if cw_val > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 Data.CWWW_CACHE[1] = ww_val if ww_val > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 my_task.out = f"Dimming: CW:{cw_val} WW:{ww_val}"
-                await asyncio.sleep_ms(ms_period)
+                await my_task.feed(sleep_ms=ms_period)
             if Data.CWWW_CACHE[2] == 1 or wake:
                 __state_machine(c=cw_val, w=ww_val)
             my_task.out = f"Dimming DONE: CW:{cw_val} WW:{ww_val}"
@@ -278,7 +277,7 @@ def hue_transition(percent, sec=1.0, wake=False):
                 Data.CWWW_CACHE[1] = warm if warm > 5 else 5
                 my_task.out = f"HUE {int(hue_precent*0.1)}%w - CW:{cold} WW:{warm}"
                 # Feed async loop
-                await asyncio.sleep_ms(ms_period)
+                await my_task.feed(sleep_ms=ms_period)
             __state_machine(cold, warm)
             my_task.out = f"HUE DONE {int(hue_precent*0.001)}%w - CW:{cold} WW:{warm}"
 

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_dimmer.py

@@ -1,7 +1,6 @@
 from sys import platform
 from microIO import resolve_pin, pinmap_search
 from Common import transition_gen, micro_task
-import uasyncio as asyncio
 from utime import sleep_ms
 from Types import resolve
 
@@ -171,7 +170,7 @@ def transition(value, sec=1.0, wake=False):
                 # Update periphery cache (value check due to toggle ON value minimum)
                 Data.DIMMER_CACHE[1] = i if i > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 my_task.out = f"Dimming: {i}"
-                await asyncio.sleep_ms(ms_period)
+                await my_task.feed(sleep_ms=ms_period)
             if Data.DIMMER_CACHE[0] == 1 or wake:
                 __state_machine(i)
             my_task.out = f"Dimming DONE: {i}"

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_distance.py

@@ -1,7 +1,6 @@
 from machine import Pin, time_pulse_us
 from utime import sleep_us
 from microIO import resolve_pin, pinmap_search
-import uasyncio as asyncio
 from Common import micro_task
 from Types import resolve
 
@@ -50,7 +49,7 @@ async def __task(period_ms, dimmer, idle_cm):
             brightness_min_cm = 5
             dist = int(measure_cm()["cm"])
             if dist > idle_cm+100:
-                await asyncio.sleep_ms(50)
+                await my_task.feed(sleep_ms=50)
                 continue
             dist = brightness_max_cm if dist > brightness_max_cm else dist   # Limit max
             dist = 0 if dist < brightness_min_cm else dist                   # Limit min
@@ -63,9 +62,8 @@ async def __task(period_ms, dimmer, idle_cm):
 
             # Store data in task cache (task show mytask)
             my_task.out = f'Dist: {dist} br: {brightness}'
-
             # Async sleep - feed event loop
-            await asyncio.sleep_ms(period_ms)
+            await my_task.feed(sleep_ms=period_ms)
 
 
 def start_dimmer_indicator(idle_distance=180):

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_i2s_mic.py

@@ -49,7 +49,7 @@ async def __control_task(ms_period=50):
     querying samples. Pushing the button again reinitializes the
     microphone without having to restart dependent load modules.
     """
-    with micro_task(tag=Data.CONTROL_TASK_TAG):
+    with micro_task(tag=Data.CONTROL_TASK_TAG) as my_task:
         while True:
             if Data.CONTROL_BUTTON_PIN.value():
                 Data.MIC_ENABLED = not Data.MIC_ENABLED
@@ -59,8 +59,8 @@ async def __control_task(ms_period=50):
                     load()
 
                 # Debounce
-                await asyncio.sleep_ms(500)
-            await asyncio.sleep_ms(ms_period)
+                await my_task.feed(sleep_ms=500)
+            await my_task.feed(sleep_ms=ms_period)
 
 
 ###########################
@@ -76,7 +76,7 @@ async def __task(ms_period):
             recording_task.out = 'Capturing'
             while Data.MIC_ENABLED:
                 await Data.SREADER.readinto(sample_mv)
-                await asyncio.sleep_ms(ms_period)
+                await recording_task.feed(sleep_ms=ms_period)
             recording_task.out = 'Finished'
 
         except Exception as e:

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_keychain.py

@@ -1,4 +1,3 @@
-import uasyncio as asyncio
 from utime import localtime, sleep_ms
 from neopixel import NeoPixel
 from machine import Pin
@@ -150,12 +149,12 @@ async def _ui_task(period_ms, tts_ms):
                 my_task.out = f'main page: {KC.DP_cnt}'     #2 Update task data for (task show keychain.display)
                 KC.DP_cnt -= 1                              #3 Update sleep counter
                 # Async sleep - feed event loop
-                await asyncio.sleep_ms(period_ms)
+                await my_task.feed(sleep_ms=period_ms)
             else:
                 # [SLEEP MODE] Execute screen saver page
                 await _screen_saver()                       # Run sleep page function
                 # Async sleep - feed event loop
-                await asyncio.sleep_ms(fast_period)
+                await my_task.feed(sleep_ms=fast_period)
 
             # Auto sleep event handler - off event - go to (sleep mode)
             if KC.DP_cnt <= 0:

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_light_sensor.py

@@ -5,7 +5,6 @@ ADC.ATTN_2_5DB — the full range voltage: 1.5V
 ADC.ATTN_6DB — the full range voltage: 2.0V
 ADC.ATTN_11DB — the full range voltage: 3.3V
 """
-import uasyncio as asyncio
 from Common import SmartADC, micro_task
 from Types import resolve
 try:
@@ -91,7 +90,7 @@ async def _task(on, off, threshold, tolerance=2, check_ms=5000):
                         InterCon.send_cmd(host, cmd)
                     my_task.out = f"{percent}% > threshold: {threshold+tolerance}% - OFF"
                     last_ev = off
-            await asyncio.sleep_ms(check_ms)        # Sample every <check_ms> sec
+            await my_task.feed(sleep_ms=check_ms)   # Sample every <check_ms> sec
 
 
 def subscribe_intercon(on, off, threshold=4, tolerance=2, sample_sec=60):

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_neopixel.py

@@ -3,7 +3,6 @@ from machine import Pin
 from sys import platform
 from utime import sleep_ms
 from Common import transition_gen, micro_task
-import uasyncio as asyncio
 from microIO import resolve_pin, pinmap_search
 from random import randint
 from Types import resolve
@@ -269,7 +268,7 @@ def transition(r=None, g=None, b=None, sec=1.0, wake=False):
                 Data.DCACHE[1] = g_val if g_val > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 Data.DCACHE[2] = b_val if b_val > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 my_task.out = f"Dimming: R:{r_val} G:{g_val} B:{b_val}"
-                await asyncio.sleep_ms(ms_period)
+                await my_task.feed(sleep_ms=ms_period)
             if Data.DCACHE[3] == 1 or wake:
                 __state_machine(r=r_val, g=g_val, b=b_val)
             my_task.out = f"Dimming DONE: R:{r_val} G:{g_val} B:{b_val}"

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_oledui.py

@@ -1,5 +1,4 @@
 from utime import localtime, ticks_ms, ticks_diff, sleep_ms
-import uasyncio as asyncio
 from Common import syslog, micro_task, manage_task, exec_cmd
 from Types import resolve
 # Core modules
@@ -106,7 +105,7 @@ class Frame(BaseFrame):
                     my_task.out = 'paused' if self.paused else f'refresh: {period_ms} ms'
                     s = self.paused
                 if self.paused:
-                    await asyncio.sleep_ms(period_ms)   # extra wait in paused mode
+                    await my_task.feed(sleep_ms=period_ms) # extra wait in paused mode
                 else:
                     # Draw/Refresh frame
                     self.draw()
@@ -115,7 +114,7 @@ class Frame(BaseFrame):
                     if self._fast_refresh:
                         self._fast_refresh = False
                         break
-                    await asyncio.sleep_ms(micro_sleep_ms)
+                    await my_task.feed(sleep_ms=micro_sleep_ms)
 
     def clb_refresh(self):
         """Fast reload app loop callbacks"""
@@ -486,7 +485,7 @@ class ScreenSaver(BaseFrame):
                 # Store data in task cache (task show mytask)
                 my_task.out = f'GameOfLife: {counter}'
                 # Async sleep - feed event loop
-                await asyncio.sleep_ms(period_ms)
+                await my_task.feed(sleep_ms=period_ms)
             my_task.out = f'GameOfLife stopped: {counter}'
 
     def run(self, fps=10):

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_pet_feeder.py

@@ -1,4 +1,3 @@
-import uasyncio as asyncio
 from LM_servo import sduty, deinit, pinmap as servo_pinmap
 from LM_stepper import step, pinmap as stepper_pinmap
 from Common import micro_task
@@ -16,13 +15,13 @@ async def __portion_task(portion, posmin, posmax):
             # [1]Run pos fill up
             for pos in range(posmin, posmax):
                 sduty(pos)
-                await asyncio.sleep_ms(15)
+                await my_task.feed(sleep_ms=15)
             # [2]Wait between fill up / food out
-            await asyncio.sleep_ms(500)
+            await my_task.feed(sleep_ms=500)
             # [3]Run pos food out
             for pos in range(posmax, posmin, -1):
                 sduty(pos)
-                await asyncio.sleep_ms(20)
+                await my_task.feed(sleep_ms=20)
             my_task.out = "{}/{} serving".format(p+1, portion)
     deinit()
     my_task.out += ": {} task done".format(Data.TASK_TAG)

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_presence.py

@@ -1,6 +1,5 @@
 from microIO import resolve_pin, pinmap_search
 from Common import SmartADC, micro_task, notify, syslog
-import uasyncio as asyncio
 from utime import ticks_ms
 try:
     import LM_intercon as InterCon
@@ -115,7 +114,7 @@ async def __task(ms_period, buff_size):
                 my_task.out = f"{int(Data.OFF_EV_TIMER)-1} sec until off event"
             Data.OFF_EV_TIMER -= round(ms_period / 1000, 3)
             # Async sleep - feed event loop
-            await asyncio.sleep_ms(ms_period)
+            await my_task.feed(sleep_ms=ms_period)
 
         # RUN OFF CALLBACK (local + remote)
         __exec_local_callbacks(Data.OFF_CALLBACKS)

microsdevtoolkit-2.8.7/micrOS/source/LM_rest.py

@@ -0,0 +1,83 @@
+import uasyncio as asyncio
+from urequests import get as http_get
+from urequests import aget as http_aget
+from Common import micro_task
+
+
+class Rest:
+    GATEWAY_HOST = None
+
+
+def load(gateway_url=None):
+    """
+    Set gateway url aka main domain
+    :param gateway_url: base url of gateway, like: http://gateway.local:5000
+    """
+    if gateway_url is None:
+        if Rest.GATEWAY_HOST is None:
+            return 'Missing Gateway url'
+        return Rest.GATEWAY_HOST
+    if gateway_url.startswith("http"):
+        Rest.GATEWAY_HOST = gateway_url
+    else:
+        return f"URL have to starts with http/https"
+    return f'Gateway url: {gateway_url}'
+
+
+def _subdomain(subdomain):
+    if Rest.GATEWAY_HOST is None:
+        raise Exception('Missing Gateway url')
+    if not subdomain.startswith('/'):
+        subdomain = '/' + subdomain
+    domain = f'{Rest.GATEWAY_HOST}{subdomain}'
+    return domain
+
+
+def url(subdomain):
+    """
+    Execute rest call with given subdomain / url
+    :param subdomain: url parameter,  http(s) full url or gateway subdomain like: /webhooks/template
+    """
+    if subdomain.startswith('http'):
+        domain = subdomain
+    else:
+        domain = _subdomain(subdomain)
+    status_code, response = http_get(domain, jsonify=True)
+    return {'status': status_code, 'response': response}
+
+
+async def __task(subdomain, tag):
+    with micro_task(tag=tag) as my_task:
+        my_task.out = f"GET {subdomain}"
+        if subdomain.startswith('http'):
+            domain = subdomain
+        else:
+            domain = _subdomain(subdomain)
+        status_code, response = await http_aget(domain, jsonify=True)
+        my_task.out = f'status: {status_code}, response: {response}'
+    return {'status': status_code, 'response': response}
+
+
+def aurl(subdomain):
+    """
+    Execute async rest call with given subdomain / url
+    :param subdomain: url parameter,  http(s) full url or gateway subdomain like: /webhooks/template
+    """
+    # [!] ASYNC TASK CREATION [1*] with async task callback + taskID (TAG) handling
+    tag = "rest." + subdomain.replace("http://", '').replace("https://", '')
+    if len(tag) > 50:
+        tag = tag[0:50]
+    state = micro_task(tag=tag, task=__task(subdomain, tag))
+    return f"Starting" if state else f"Already running"
+
+
+def help(widgets=False):
+    """
+    [i] micrOS LM naming convention - built-in help message
+    :return tuple:
+        (widgets=False) list of functions implemented by this application
+        (widgets=True) list of widget json for UI generation
+    """
+    return ('load gateway_url=<http://gateway.local:5000>',
+            'url subdomain=</webhooks/template>',
+            'aurl subdomain=</webhooks/template>')

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_rgb.py

@@ -4,7 +4,6 @@
 from machine import Pin, PWM
 from sys import platform
 from Common import transition_gen, micro_task
-import uasyncio as asyncio
 from utime import sleep_ms
 from microIO import resolve_pin, pinmap_search
 from random import randint
@@ -240,7 +239,7 @@ def transition(r=None, g=None, b=None, sec=1.0, wake=False):
                 Data.RGB_CACHE[1] = _g if _g > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 Data.RGB_CACHE[2] = _b if _b > 5 else 5   # SAVE VALUE TO CACHE > 5 ! because toggle
                 my_task.out = f"Dimming: R:{_r} G:{_g} B:{_b}"
-                await asyncio.sleep_ms(ms_period)
+                await my_task.feed(sleep_ms=ms_period)
             if Data.RGB_CACHE[3] == 1 or wake:
                 __state_machine(_r, _g, _b)
             my_task.out = f"Dimming DONE: R:{_r} G:{_g} B:{_b}"

{microsdevtoolkit-2.8.6 → microsdevtoolkit-2.8.7}/micrOS/source/LM_roboarm.py

@@ -3,7 +3,6 @@ from random import randint
 import LM_servo as servo
 from LM_switch import set_state, pinmap as switch_pinmap
 from Common import transition, micro_task
-import uasyncio as asyncio
 from Types import resolve
 
 
@@ -179,7 +178,7 @@ async def _play(args, deinit, delay):
             if task is not None:
                 task.out = "Roboarm X:{} Y:{}".format(x, y)
             # Async wait between steps
-            await asyncio.sleep_ms(delay)
+            await task.feed(sleep_ms=delay)
         if deinit:
             servo.deinit()
         # OFF LASER