ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Ch-10 TR feedback

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This commit is contained in:
Danny Staple 2022-12-17 16:05:25 +00:00
parent b2228889e8
commit 45ba981386
4 changed files with 20 additions and 19 deletions
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12
ch-10/1-proportional-distance-control/code.py
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@ -14,22 +14,22 @@ class PController:
## We'll set up a single distance sensor, and keep a set distance from an object
robot.left_distance.distance_mode = 1
robot.left_distance.start_ranging()
robot.right_distance.distance_mode = 1
robot.right_distance.start_ranging()
distance_set_point = 10
distance_controller = PController(-0.1)
while True:
if robot.left_distance.data_ready:
distance = robot.left_distance.distance
if robot.right_distance.data_ready:
distance = robot.right_distance.distance
error = distance_set_point - distance
speed = distance_controller.calculate(error)
if abs(speed) < 0.2:
if abs(speed) < 0.3:
speed = 0
uart.write(f"{error},{speed}\n".encode())
print(f"{error},{speed}")
robot.set_left(speed)
robot.set_right(speed)
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
time.sleep(0.05)

12
ch-10/2-pi-distance-control/code.py
View File

@ -17,28 +17,28 @@ class PIController:
## We'll set up a single distance sensor, and keep a set distance from an object
robot.left_distance.distance_mode = 1
robot.left_distance.start_ranging()
robot.right_distance.distance_mode = 1
robot.right_distance.start_ranging()
distance_set_point = 10
distance_controller = PIController(-0.19, -0.005)
prev_time = time.monotonic()
while True:
if robot.left_distance.data_ready:
distance = robot.left_distance.distance
if robot.right_distance.data_ready:
distance = robot.right_distance.distance
error = distance_set_point - distance
current_time = time.monotonic()
speed = distance_controller.calculate(error, current_time - prev_time)
prev_time = current_time
# Control the motors with the speed
if abs(speed) < 0.35:
if abs(speed) < 0.3:
speed = 0
uart.write(f"{error},{speed},"
f"{distance_controller.integral}\n".encode())
print(f"{error},{speed},{distance_controller.integral}")
robot.set_left(speed)
robot.set_right(speed)
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
time.sleep(0.05)

12
ch-10/3-damping-with-derivative/code.py
View File

@ -8,28 +8,28 @@ uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
## We'll set up a single distance sensor, and keep a set distance from an object
robot.left_distance.distance_mode = 1
robot.left_distance.start_ranging()
robot.right_distance.distance_mode = 1
robot.right_distance.start_ranging()
distance_set_point = 10
distance_controller = PIDController(-0.09, -0.02, -0.07)
prev_time = time.monotonic()
while True:
if robot.left_distance.data_ready:
distance = robot.left_distance.distance
if robot.right_distance.data_ready:
distance = robot.right_distance.distance
error = distance_set_point - distance
current_time = time.monotonic()
speed = distance_controller.calculate(error, current_time - prev_time)
prev_time = current_time
# Control the motors with the speed
if abs(speed) < 0.35:
if abs(speed) < 0.3:
speed = 0
uart.write(f"{error},{speed},{distance_controller.integral},{distance_controller.derivative}\n".encode())
print(f"{error},{speed},{distance_controller.integral},{distance_controller.derivative}")
robot.set_left(speed)
robot.set_right(speed)
# reset the distance sensor
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
time.sleep(0.05)

3
ch-10/4-wall-follow/code.py
View File

@ -25,7 +25,8 @@ while True:
current_time = time.monotonic()
deflection = distance_controller.calculate(error, current_time - prev_time)
prev_time = current_time
uart.write(f"{error},{deflection}\n".encode()) # ,{distance_controller.derivative}
uart.write(f"{error},{deflection},"
f"{distance_controller.derivative}\n".encode())
if motors_active:
robot.set_left(speed - deflection)
robot.set_right(speed + deflection)