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Chapter 10 code

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This commit is contained in:
Danny Staple
2022-08-01 09:52:56 +01:00
parent 35358211ac
commit 7eff69d680
23 changed files with 1517 additions and 170 deletions
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ch-10/1-proportional-distance-control/code.py
+2
View File
@@ -25,6 +25,8 @@ while True:
distance = robot.left_distance.distance
error = distance_set_point - distance
speed = distance_controller.calculate(error)
if abs(speed) < 0.2:
speed = 0
uart.write(f"{error},{speed}\n".encode())
print(f"{error},{speed}")
robot.set_left(speed)
ch-10/2-pi-distance-control/code.py
+44
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@@ -0,0 +1,44 @@
import time
import board
import busio
import robot
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
class PIController:
def __init__(self, kp, ki):
self.kp = kp
self.ki = ki
self.integral = 0
def calculate(self, error, dt):
self.integral += error * dt
return self.kp * error + self.ki * self.integral
## 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()
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
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:
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()
time.sleep(0.05)
ch-10/3-wall-follow/pio_encoder.py → ch-10/2-pi-distance-control/pio_encoder.py
View File
ch-10/3-wall-follow/robot.py → ch-10/2-pi-distance-control/robot.py
+2 -2
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@@ -19,8 +19,8 @@ left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
right_distance = adafruit_vl53l1x.VL53L1X(i2c0)
left_distance = adafruit_vl53l1x.VL53L1X(i2c1)
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
def stop():
ch-10/3-damping-with-derivative/code.py
+35
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@@ -0,0 +1,35 @@
import time
import board
import busio
import robot
from pid_controller import PIDController
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()
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
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:
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()
time.sleep(0.05)
ch-10/3-damping-with-derivative/pid_controller.py
+20
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@@ -0,0 +1,20 @@
class PIDController:
def __init__(self, kp, ki, kd, d_filter_gain=0.1):
self.kp = kp
self.ki = ki
self.kd = kd
self.d_filter_gain = d_filter_gain
self.integral = 0
self.error_prev = 0
self.derivative = 0
def calculate(self, error, dt):
self.integral += error * dt
# 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
ch-10/3-damping-with-derivative/pio_encoder.py
+77
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@@ -0,0 +1,77 @@
import rp2pio
import adafruit_pioasm
import array
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])
def read(self):
while self.sm.in_waiting:
self.sm.readinto(self._buffer)
if self.reversed:
return -self._buffer[0]
else:
return self._buffer[0]
ch-10/3-damping-with-derivative/robot.py
Executable
+52
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@@ -0,0 +1,52 @@
import board
import pwmio
import pio_encoder
import busio
import adafruit_vl53l1x
motor_A1 = pwmio.PWMOut(board.GP17)
motor_A2 = pwmio.PWMOut(board.GP16)
motor_B1 = pwmio.PWMOut(board.GP18)
motor_B2 = pwmio.PWMOut(board.GP19)
right_motor = motor_A1, motor_A2
left_motor = motor_B1, motor_B2
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
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)
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 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)
ch-10/3-wall-follow/pid.py
-39
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@@ -1,39 +0,0 @@
class PID:
def __init__(self, proportional_k, integral_k, differential_k, set_point):
self.proportional_k = proportional_k
self.integral_k = integral_k
self.differential_k = differential_k
self.set_point = set_point
self.error_sum = 0
self.last_value = 0
self.min_output = -1
self.max_output = 1
self.dead_zone = 0.3
def update(self, measurement, time_delta):
error_value = measurement - self.set_point
proportional = error_value * self.proportional_k
# calculate integral
self.error_sum += error_value * time_delta
# clamp it
self.error_sum = min(self.max_output, self.error_sum)
self.error_sum = max(self.min_output, self.error_sum)
integral = self.error_sum * self.integral_k
differentiated_error = (error_value - self.last_value) / time_delta
differential = differentiated_error * self.differential_k
self.last_value = error_value
output = proportional + integral + differential
# clamp output
if abs(output) < self.dead_zone:
output = 0
else:
output = min(self.max_output, output)
output = max(self.min_output, output)
return output
ch-10/3-wall-follow/robot_wifi.py
-25
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@@ -1,25 +0,0 @@
import board
import busio
from digitalio import DigitalInOut
from adafruit_esp32spi import adafruit_esp32spi
from adafruit_esp32spi import adafruit_esp32spi_wifimanager
try:
from secrets import secrets
except ImportError:
print("WiFi secrets are kept in secrets.py, please add them there!")
raise
def connect_to_wifi():
esp32_cs = DigitalInOut(board.GP10)
esp32_ready = DigitalInOut(board.GP9)
esp32_reset = DigitalInOut(board.GP8)
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
esp.reset()
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
wifi.connect()
return wifi, esp
ch-10/3-wall-follow/wall_follow.py
-104
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@@ -1,104 +0,0 @@
import time
import json
import math
from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
from adafruit_wsgi.wsgi_app import WSGIApp
import pid
import robot
import robot_wifi
class FollowWallApp:
def __init__(self) -> None:
self.speed = 0.6
self.max_deflection = 0.4
self.follow_pid = pid.PID(0.1, 0.5, 0, 15)
self.follow_pid.dead_zone = 0.6
self.wifi = None
self.server = None
self.last_time = time.monotonic()
self.left_dist = 0
self.pid_output = 0
def setup_robot(self):
robot.left_distance.distance_mode = 1
def setup_wifi(self, app):
print("Setting up wifi.")
self.wifi, esp = robot_wifi.connect_to_wifi()
self.server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Starting server")
self.server.start()
ip_int = ".".join(str(int(n)) for n in esp.ip_address)
print(f"IP Address is {ip_int}")
def index(self, request):
return (
200,
[("Content-Type", "application/json")],
[
json.dumps(
{
"last_value": self.follow_pid.last_value,
"pid_output": self.pid_output,
"time": self.last_time,
}
)
],
)
def movement_update(self):
# do we have data
if robot.left_distance.data_ready:
self.left_dist = robot.left_distance.distance
# calculate time delta
new_time = time.monotonic()
time_delta = new_time - self.last_time
self.last_time = new_time
# get turn from pid
self.pid_output = self.follow_pid.update(self.left_dist, time_delta)
deflection = self.pid_output * self.max_deflection
# make movements
robot.set_left(self.speed - deflection)
robot.set_right(self.speed + deflection)
# reset and loop
robot.left_distance.clear_interrupt()
def main_loop(self):
robot.left_distance.start_ranging()
while True:
try:
self.movement_update()
self.server.update_poll()
except RuntimeError as e:
print(f"Server poll error: {type(e)}, {e}")
robot.stop()
print(f"Resetting ESP...")
self.wifi.reset()
print("Reset complete.")
def start(self):
app = WSGIApp()
app.route("/")(self.index)
print("Starting")
try:
self.setup_robot()
self.setup_wifi(app)
self.main_loop()
finally:
robot.stop()
robot.left_distance.clear_interrupt()
robot.left_distance.stop_ranging()
FollowWallApp().start()
ch-10/4-wall-follow/code.py
+60
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@@ -0,0 +1,60 @@
import time
import board
import busio
import robot
from pid_controller import PIDController
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
robot.right_distance.distance_mode = 1
robot.right_distance.start_ranging()
speed = 0.7
distance_set_point = 15
distance_controller = PIDController(0.046, 0.0, 0)
print("Waiting for bytes on UART...")
prev_time = time.monotonic()
motors_active = False
while True:
if robot.right_distance.data_ready:
distance = robot.right_distance.distance
error = distance_set_point - distance
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}
if motors_active:
robot.set_left(speed - deflection)
robot.set_right(speed + deflection)
# reset the distance sensor
robot.right_distance.clear_interrupt()
time.sleep(0.05)
if uart.in_waiting:
command = uart.readline().decode().strip()
if command.startswith("M"):
speed = float(command[1:])
elif command == "O":
motors_active = not motors_active
robot.set_left(0)
robot.set_right(0)
distance_controller.integral = 0
elif command.startswith("P"):
distance_controller.kp = float(command[1:])
elif command.startswith("I"):
distance_controller.ki = float(command[1:])
elif command.startswith("D"):
distance_controller.kd = float(command[1:])
elif command.startswith("S"):
distance_set_point = float(command[1:])
elif command.startswith("?"):
uart.write(f"P{distance_controller.kp:.3f}\n".encode())
uart.write(f"I{distance_controller.ki:.3f}\n".encode())
uart.write(f"D{distance_controller.kd:.3f}\n".encode())
uart.write(f"S{distance_set_point:.3f}\n".encode())
uart.write(f"M{speed:.1f}\n".encode())
time.sleep(3)
elif command.startswith("R"):
distance_controller.integral = 0
ch-10/4-wall-follow/pid_controller.py
+20
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@@ -0,0 +1,20 @@
class PIDController:
def __init__(self, kp, ki, kd, d_filter_gain=0.1):
self.kp = kp
self.ki = ki
self.kd = kd
self.d_filter_gain = d_filter_gain
self.integral = 0
self.error_prev = 0
self.derivative = 0
def calculate(self, error, dt):
self.integral += error * dt
# 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
ch-10/4-wall-follow/pio_encoder.py
+77
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@@ -0,0 +1,77 @@
import rp2pio
import adafruit_pioasm
import array
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])
def read(self):
while self.sm.in_waiting:
self.sm.readinto(self._buffer)
if self.reversed:
return -self._buffer[0]
else:
return self._buffer[0]
ch-10/4-wall-follow/robot.FCStd
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ch-10/4-wall-follow/robot.py
Executable
+52
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@@ -0,0 +1,52 @@
import board
import pwmio
import pio_encoder
import busio
import adafruit_vl53l1x
motor_A1 = pwmio.PWMOut(board.GP17, frequency=100)
motor_A2 = pwmio.PWMOut(board.GP16, frequency=100)
motor_B1 = pwmio.PWMOut(board.GP18, frequency=100)
motor_B2 = 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, reversed=True)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
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)
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 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)
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