Making the numbers match topic numbers

2022-12-28 18:44:53 +00:00
parent 6e8606fbeb
commit 6ebb615044
81 changed files with 0 additions and 0 deletions
@@ -0,0 +1,77 @@
+"""Represent the lines of the arena"""
+try:
+  from ulab import numpy as np
+except ImportError:
+  import numpy as np
+
+boundary_lines = [
+    [(0,0), (0, 1500)],
+    [(0, 1500), (1500, 1500)],
+    [(1500, 1500), (1500, 500)],
+    [(1500, 500), (1000, 500)],
+    [(1000, 500), (1000, 0)],
+    [(1000, 0), (0, 0)],
+]
+
+width = 1500
+height = 1500
+
+
+grid_cell_size = 50
+overscan = 10 # 10 each way
+
+
+def get_distance_to_segment(x, y, segment):
+    """Return the distance from the point to the segment.
+    Segment -> ((x1, y1), (x2, y2))
+    All segments are horizontal or vertical.
+    """
+    x1, y1 = segment[0]
+    x2, y2 = segment[1]
+    # if the segment is horizontal, the point will be closest to the y value of the segment
+    if y1 == y2 and x >= min(x1, x2) and x <= max(x1, x2):
+        return abs(y - y1)
+    # if the segment is vertical, the point will be closest to the x value of the segment
+    if x1 == x2 and y >= min(y1, y2) and y <= max(y1, y2):
+        return abs(x - x1)
+    # the point will be closest to one of the end points
+    return np.sqrt(
+        min(
+            (x - x1) ** 2 + (y - y1) ** 2, 
+            (x - x2) ** 2 + (y - y2) ** 2
+        )
+    )
+
+
+def get_distance_likelihood(x, y):
+    """Return the distance from the point to the nearest segment as a decay function."""
+    min_distance = None
+    for segment in boundary_lines:
+        distance = get_distance_to_segment(x, y, segment)
+        if min_distance is None or distance < min_distance:
+            min_distance = distance
+    return 1.0 / (1 + min_distance/250) ** 2
+
+
+grid_cell_size = 50
+overscan = 10 # 10 each way
+
+# beam endpoint model
+def make_distance_grid():
+    """Take the boundary lines. With and overscan of 10 cells, and grid cell size of 5cm (50mm),
+    make a grid of the distance to the nearest boundary line.
+    """
+    grid = np.zeros((
+            width // grid_cell_size + 2 * overscan, 
+            height // grid_cell_size + 2 * overscan
+        ), dtype=np.float)
+    for x in range(grid.shape[0]):
+        column_x = x * grid_cell_size - (overscan * grid_cell_size)
+        for y in range(grid.shape[1]):
+            row_y = y * grid_cell_size - (overscan * grid_cell_size)
+            grid[x, y] = get_distance_likelihood(
+                column_x, row_y
+            )
+    return grid
+
+distance_grid = make_distance_grid()
@@ -0,0 +1,59 @@
+import asyncio
+import json
+import random
+from ulab import numpy as np
+
+import arena
+import robot
+
+def send_json(data):
+    robot.uart.write((json.dumps(data) + "\n").encode())
+
+def read_json():
+    try:
+      data = robot.uart.readline()
+      decoded = data.decode()
+      return json.loads(decoded)
+    except (UnicodeError, ValueError):
+      print("Invalid data")
+      return None
+
+
+def send_poses(samples):
+    send_json({
+        "poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
+    })
+
+
+class Simulation:
+    def __init__(self):
+      self.population_size = 20
+      self.poses = np.array(
+          [(
+              int(random.uniform(0, arena.width)),
+              int(random.uniform(0, arena.height)),
+              int(random.uniform(0, 360))) for _ in range(self.population_size)],
+          dtype=np.float,
+      )
+
+
+
+async def command_handler(simulation):
+    print("Starting handler")
+    while True:
+        if robot.uart.in_waiting:
+            request = read_json()
+            if not request:
+                continue
+            print("Received: ", request)
+            if request["command"] == "arena":
+                send_json({
+                    "arena": arena.boundary_lines,
+                })
+                send_poses(simulation.poses)
+
+        await asyncio.sleep(0.1)
+
+
+simulation = Simulation()
+asyncio.run(command_handler(simulation))
@@ -0,0 +1,27 @@
+class PIDController:
+    def __init__(self, kp, ki, kd, d_filter_gain=0.1, imax=None, imin=None):
+        self.kp = kp
+        self.ki = ki
+        self.kd = kd
+        self.d_filter_gain = d_filter_gain
+        self.imax = imax
+        self.imin = imin
+        self.reset()
+
+    def reset(self):
+        self.integral = 0
+        self.error_prev = 0
+        self.derivative = 0
+
+    def calculate(self, error, dt):
+        self.integral += error * dt
+        if self.imax is not None and self.integral > self.imax:
+            self.integral = self.imax
+        if self.imin is not None and self.integral < self.imin:
+            self.integral = self.imin
+        # Add a low pass filter to the difference
+        difference = (error - self.error_prev) * self.d_filter_gain
+        self.error_prev += difference
+        self.derivative = difference / dt
+
+        return self.kp * error + self.ki * self.integral + self.kd * self.derivative
@@ -0,0 +1,84 @@
+import rp2pio
+import adafruit_pioasm
+import array
+import asyncio
+
+
+program = """
+; use the osr for count
+; input pins c1 c2
+
+    set y, 0            ; clear y
+    mov osr, y          ; and clear osr
+read:
+    ; x will be the old value
+    ; y the new values
+    mov x, y            ; store old Y in x
+    in null, 32         ; Clear ISR - using y
+    in pins, 2          ; read two pins into y
+    mov y, isr
+    jmp x!=y, different ; Jump if its different
+    jmp read            ; otherwise loop back to read
+
+different:
+    ; x has old value, y has new.
+    ; extract the upper bit of X.
+    in x, 31             ; get bit 31 - old p1 (remember which direction it came in)
+    in null, 31         ; keep only 1 bit
+    mov x, isr          ; put this back in x
+    jmp !x, c1_old_zero
+
+c1_old_not_zero:
+    jmp pin, count_up
+    jmp count_down
+
+c1_old_zero:
+    jmp pin, count_down
+    ; fall through
+count_up:
+    ; for a clockwise move - we'll add 1 by inverting
+    mov x, ~ osr        ; store inverted OSR on x
+    jmp x--, fake       ; use jump to take off 1
+fake:
+    mov x, ~ x          ; invert back
+    jmp send
+count_down:
+    ; for a clockwise move, just take one off
+    mov x, osr          ; store osr in x
+    jmp x--, send       ; dec and send
+send:
+    ; send x.
+    mov isr, x          ; send it
+    push noblock        ; put ISR into input FIFO
+    mov osr, x          ; put X back in OSR
+    jmp read            ; loop back
+"""
+
+assembled = adafruit_pioasm.assemble(program)
+
+
+class QuadratureEncoder:
+    def __init__(self, first_pin, second_pin, reversed=False):
+        """Encoder with 2 pins. Must use sequential pins on the board"""
+        self.sm = rp2pio.StateMachine(
+            assembled,
+            frequency=0,
+            first_in_pin=first_pin,
+            jmp_pin=second_pin,
+            in_pin_count=2,
+        )
+        self.reversed = reversed
+        self._buffer = array.array("i", [0])
+        asyncio.create_task(self.poll_loop())
+
+    async def poll_loop(self):
+        while True:
+            await asyncio.sleep(0)
+            while self.sm.in_waiting:
+                self.sm.readinto(self._buffer)
+
+    def read(self):
+        if self.reversed:
+            return -self._buffer[0]
+        else:
+            return self._buffer[0]
@@ -0,0 +1,73 @@
+import board
+import pwmio
+import pio_encoder
+import busio
+import adafruit_vl53l1x
+import math
+import adafruit_bno055
+
+uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
+
+wheel_diameter_mm = 70
+wheel_circumference_mm = math.pi * wheel_diameter_mm
+gear_ratio = 298
+encoder_poles = 28
+ticks_per_revolution = encoder_poles * gear_ratio
+ticks_to_m = (wheel_circumference_mm / ticks_per_revolution) / 1000
+m_to_ticks = 1 / ticks_to_m
+
+
+motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
+motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
+motor_B2 = pwmio.PWMOut(board.GP18, frequency=100)
+motor_B1 = pwmio.PWMOut(board.GP19, frequency=100)
+
+right_motor = motor_A1, motor_A2
+left_motor = motor_B1, motor_B2
+
+right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21)
+left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27, reversed=True)
+
+i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
+i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
+
+left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
+right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
+imu = adafruit_bno055.BNO055_I2C(i2c0)
+
+def stop():
+    motor_A1.duty_cycle = 0
+    motor_A2.duty_cycle = 0
+    motor_B1.duty_cycle = 0
+    motor_B2.duty_cycle = 0
+
+
+def set_speed(motor, speed):
+    # Swap motor pins if we reverse the speed
+    if abs(speed) < 0.1:
+        motor[0].duty_cycle = 0
+        motor[1].duty_cycle = 1
+        return
+    if speed < 0:
+        direction = motor[1], motor[0]
+        speed = -speed
+    else:
+        direction = motor
+    speed = min(speed, 1)  # limit to 1.0
+    max_speed = 2 ** 16 - 1
+
+    direction[0].duty_cycle = int(max_speed * speed)
+    direction[1].duty_cycle = 0
+
+
+def set_left(speed):
+    set_speed(left_motor, speed)
+
+
+def set_right(speed):
+    set_speed(right_motor, speed)
+
+def check_imu_status():
+  sys_status, gyro, accel, mag = imu.calibration_status
+  uart.write(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}\n".encode())
+  return sys_status == 3