ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Level down clean up

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This commit is contained in:
Danny Staple 2022-03-20 22:32:06 +00:00
parent b595f3be54
commit 929f36dc8c
4 changed files with 89 additions and 79 deletions
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19
ch-10/2-graphing/pc/live_graph.py
View File

@ -4,7 +4,7 @@ import requests
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation from matplotlib.animation import FuncAnimation
url = 'http://192.168.1.128' url = "http://192.168.1.128"
class SensorStream: class SensorStream:
@ -19,7 +19,11 @@ class SensorStream:
def sensor_stream(self, frame): def sensor_stream(self, frame):
try: try:
response = requests.get(url, timeout=1) response = requests.get(url, timeout=1)
except (requests.exceptions.ConnectTimeout, requests.exceptions.ReadTimeout, requests.exceptions.ConnectionError): except (
requests.exceptions.ConnectTimeout,
requests.exceptions.ReadTimeout,
requests.exceptions.ConnectionError,
):
print("Waiting...") print("Waiting...")
return return
print(f"Content: {response.content}") print(f"Content: {response.content}")
@ -28,11 +32,11 @@ class SensorStream:
item = response.json() item = response.json()
print(f"Received: {item}") print(f"Received: {item}")
if self.times and item['time'] < self.times[-1]: if self.times and item["time"] < self.times[-1]:
self.reset() self.reset()
self.times.append(item['time']) self.times.append(item["time"])
self.error_values.append(item['last_value']) self.error_values.append(item["last_value"])
self.pid_outputs.append(item['pid_output']) self.pid_outputs.append(item["pid_output"])
if len(self.times) > 100: if len(self.times) > 100:
self.times = self.times[-100:] self.times = self.times[-100:]
@ -44,7 +48,7 @@ class SensorStream:
plt.plot(self.times, self.error_values, label="error") plt.plot(self.times, self.error_values, label="error")
plt.plot(self.times, self.pid_outputs, label="pid") plt.plot(self.times, self.pid_outputs, label="pid")
plt.legend(loc='upper right') plt.legend(loc="upper right")
def start(self): def start(self):
# Create the animation. GFC - get current figure. random_stream - callback func. # Create the animation. GFC - get current figure. random_stream - callback func.
@ -52,4 +56,5 @@ class SensorStream:
plt.tight_layout() plt.tight_layout()
plt.show() plt.show()
SensorStream().start() SensorStream().start()

19
ch-10/3-wall-follow/pc/live_graph.py
View File

@ -4,7 +4,7 @@ import requests
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation from matplotlib.animation import FuncAnimation
url = 'http://192.168.1.128' url = "http://192.168.1.128"
class SensorStream: class SensorStream:
@ -19,7 +19,11 @@ class SensorStream:
def sensor_stream(self, frame): def sensor_stream(self, frame):
try: try:
response = requests.get(url, timeout=1) response = requests.get(url, timeout=1)
except (requests.exceptions.ConnectTimeout, requests.exceptions.ReadTimeout, requests.exceptions.ConnectionError): except (
requests.exceptions.ConnectTimeout,
requests.exceptions.ReadTimeout,
requests.exceptions.ConnectionError,
):
print("Waiting...") print("Waiting...")
return return
print(f"Content: {response.content}") print(f"Content: {response.content}")
@ -28,11 +32,11 @@ class SensorStream:
item = response.json() item = response.json()
print(f"Received: {item}") print(f"Received: {item}")
if self.times and item['time'] < self.times[-1]: if self.times and item["time"] < self.times[-1]:
self.reset() self.reset()
self.times.append(item['time']) self.times.append(item["time"])
self.error_values.append(item['last_value']) self.error_values.append(item["last_value"])
self.pid_outputs.append(item['pid_output']) self.pid_outputs.append(item["pid_output"])
if len(self.times) > 100: if len(self.times) > 100:
self.times = self.times[-100:] self.times = self.times[-100:]
@ -44,7 +48,7 @@ class SensorStream:
plt.plot(self.times, self.error_values, label="error") plt.plot(self.times, self.error_values, label="error")
plt.plot(self.times, self.pid_outputs, label="pid") plt.plot(self.times, self.pid_outputs, label="pid")
plt.legend(loc='upper right') plt.legend(loc="upper right")
def start(self): def start(self):
# Create the animation. GFC - get current figure. random_stream - callback func. # Create the animation. GFC - get current figure. random_stream - callback func.
@ -52,4 +56,5 @@ class SensorStream:
plt.tight_layout() plt.tight_layout()
plt.show() plt.show()
SensorStream().start() SensorStream().start()

2
ch-5/4-pwm/with_pwm/robot.py
View File

@ -6,9 +6,9 @@ motor_A2 = pwmio.PWMOut(board.GP16)
motor_B1 = pwmio.PWMOut(board.GP18) motor_B1 = pwmio.PWMOut(board.GP18)
motor_B2 = pwmio.PWMOut(board.GP19) motor_B2 = pwmio.PWMOut(board.GP19)
def stop(): def stop():
motor_A1.duty_cycle = 0 motor_A1.duty_cycle = 0
motor_A2.duty_cycle = 0 motor_A2.duty_cycle = 0
motor_B1.duty_cycle = 0 motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0 motor_B2.duty_cycle = 0