Clear up old versions
This commit is contained in:
Danny Staple
Generated
-314
@@ -1,314 +0,0 @@
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[[package]]
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name = "async-timeout"
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version = "4.0.2"
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description = "Timeout context manager for asyncio programs"
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category = "main"
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optional = false
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python-versions = ">=3.6"
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[[package]]
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name = "black"
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version = "22.10.0"
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description = "The uncompromising code formatter."
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[package.dependencies]
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click = ">=8.0.0"
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mypy-extensions = ">=0.4.3"
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pathspec = ">=0.9.0"
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platformdirs = ">=2"
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tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
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typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
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[package.extras]
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colorama = ["colorama (>=0.4.3)"]
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d = ["aiohttp (>=3.7.4)"]
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jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
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uvloop = ["uvloop (>=0.15.2)"]
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[[package]]
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name = "bleak"
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version = "0.19.0"
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description = "Bluetooth Low Energy platform Agnostic Klient"
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category = "main"
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optional = false
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python-versions = ">=3.7,<4.0"
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[package.dependencies]
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async-timeout = ">=3.0.0,<5"
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bleak-winrt = {version = ">=1.2.0,<2.0.0", markers = "platform_system == \"Windows\""}
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dbus-fast = {version = ">=1.22.0,<2.0.0", markers = "platform_system == \"Linux\""}
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pyobjc-core = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
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pyobjc-framework-CoreBluetooth = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
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pyobjc-framework-libdispatch = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
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[[package]]
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name = "bleak-winrt"
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version = "1.2.0"
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description = "Python WinRT bindings for Bleak"
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category = "main"
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optional = false
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python-versions = "*"
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[[package]]
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name = "click"
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version = "8.1.3"
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description = "Composable command line interface toolkit"
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[package.dependencies]
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colorama = {version = "*", markers = "platform_system == \"Windows\""}
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[[package]]
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name = "colorama"
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version = "0.4.6"
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description = "Cross-platform colored terminal text."
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category = "dev"
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optional = false
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python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
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[[package]]
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name = "dbus-fast"
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version = "1.75.0"
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description = "A faster version of dbus-next"
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category = "main"
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optional = false
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python-versions = ">=3.7,<4.0"
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[package.dependencies]
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async-timeout = {version = ">=3.0.0", markers = "python_version < \"3.11\""}
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[[package]]
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name = "mypy-extensions"
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version = "0.4.3"
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description = "Experimental type system extensions for programs checked with the mypy typechecker."
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category = "dev"
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optional = false
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python-versions = "*"
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[[package]]
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name = "pathspec"
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version = "0.10.2"
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description = "Utility library for gitignore style pattern matching of file paths."
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[[package]]
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name = "platformdirs"
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version = "2.5.4"
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description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[package.extras]
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docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
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test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
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[[package]]
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name = "pyobjc-core"
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version = "8.5.1"
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description = "Python<->ObjC Interoperability Module"
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category = "main"
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optional = false
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python-versions = ">=3.6"
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[[package]]
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name = "pyobjc-framework-Cocoa"
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version = "8.5.1"
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description = "Wrappers for the Cocoa frameworks on macOS"
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category = "main"
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optional = false
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python-versions = ">=3.6"
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[package.dependencies]
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pyobjc-core = ">=8.5.1"
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[[package]]
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name = "pyobjc-framework-CoreBluetooth"
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version = "8.5.1"
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description = "Wrappers for the framework CoreBluetooth on macOS"
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category = "main"
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optional = false
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python-versions = ">=3.6"
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[package.dependencies]
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pyobjc-core = ">=8.5.1"
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pyobjc-framework-Cocoa = ">=8.5.1"
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[[package]]
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name = "pyobjc-framework-libdispatch"
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version = "8.5.1"
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description = "Wrappers for libdispatch on macOS"
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category = "main"
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optional = false
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python-versions = ">=3.6"
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[package.dependencies]
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pyobjc-core = ">=8.5.1"
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[[package]]
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name = "tomli"
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version = "2.0.1"
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description = "A lil' TOML parser"
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[[package]]
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name = "typing-extensions"
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version = "4.4.0"
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description = "Backported and Experimental Type Hints for Python 3.7+"
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[metadata]
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lock-version = "1.1"
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python-versions = "^3.9"
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content-hash = "4ff9097130bf3c55c4ee87470b74c4e1c2f5fc736a0c95be9332f8c4f7d7bf5e"
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[metadata.files]
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async-timeout = [
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]
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black = [
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]
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bleak = [
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]
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bleak-winrt = [
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||||
{file = "dbus_fast-1.75.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:343e7cf78a0960dcd6161a1cc4618f8353c36d15843e149e27817efe45869b25"},
|
||||
{file = "dbus_fast-1.75.0-cp39-cp39-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:c322b52ea4a35d2f5221831a8fc95c56e1813fe0fd30cbdd883f32a3db3f86d7"},
|
||||
{file = "dbus_fast-1.75.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a8c37ba6c63f906cde3c54a4675a3b8ae9466eac704c450e942e58afe7e85af"},
|
||||
{file = "dbus_fast-1.75.0-cp39-cp39-manylinux_2_31_x86_64.whl", hash = "sha256:41a6cbae35160545a78c47a3081615c2c062efde8c984659ec75c2d5ccb50ad3"},
|
||||
{file = "dbus_fast-1.75.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:98cc58063fa6553870ca590c908f074a4f45b0300b0eb31ba6e5c781935a0ce2"},
|
||||
{file = "dbus_fast-1.75.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:f58d50203633c06cebb6fdda0d3d6807ca1e3bd012e6670b01af30c0a088033c"},
|
||||
{file = "dbus_fast-1.75.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:413d7989519d9280653c690fdc17517667dd8a5307ce067fa835371dc3c7259b"},
|
||||
{file = "dbus_fast-1.75.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:337ba4c0b3b8346dd08dcba7fe026f0dd897c0ed85c01b8d1b2580769bd51ccd"},
|
||||
{file = "dbus_fast-1.75.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:80b058910f4160bcbdc1e088ae2dd0b874795e7017ac371fbbe6586ccb228bc0"},
|
||||
{file = "dbus_fast-1.75.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:51c7df44f761909c189509e0fdcc415f615d943fb6c93d3181135fe72c771d3e"},
|
||||
{file = "dbus_fast-1.75.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:abbb69aa500949450e4edea1427876d0acec3b181b83ae505c16be975b148fb6"},
|
||||
{file = "dbus_fast-1.75.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:40ff98d606490cbda4df77a9484730d5465be58a53e0285897182af2539873c9"},
|
||||
{file = "dbus_fast-1.75.0.tar.gz", hash = "sha256:1023171d2f07181ea5457a2727ee5e8bec3650ceb5410c91d8915ff44520bf13"},
|
||||
]
|
||||
mypy-extensions = [
|
||||
{file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
|
||||
{file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
|
||||
]
|
||||
pathspec = [
|
||||
{file = "pathspec-0.10.2-py3-none-any.whl", hash = "sha256:88c2606f2c1e818b978540f73ecc908e13999c6c3a383daf3705652ae79807a5"},
|
||||
{file = "pathspec-0.10.2.tar.gz", hash = "sha256:8f6bf73e5758fd365ef5d58ce09ac7c27d2833a8d7da51712eac6e27e35141b0"},
|
||||
]
|
||||
platformdirs = [
|
||||
{file = "platformdirs-2.5.4-py3-none-any.whl", hash = "sha256:af0276409f9a02373d540bf8480021a048711d572745aef4b7842dad245eba10"},
|
||||
{file = "platformdirs-2.5.4.tar.gz", hash = "sha256:1006647646d80f16130f052404c6b901e80ee4ed6bef6792e1f238a8969106f7"},
|
||||
]
|
||||
pyobjc-core = [
|
||||
{file = "pyobjc-core-8.5.1.tar.gz", hash = "sha256:f8592a12de076c27006700c4a46164478564fa33d7da41e7cbdd0a3bf9ddbccf"},
|
||||
{file = "pyobjc_core-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b62dcf987cc511188fc2aa5b4d3b9fd895361ea4984380463497ce4b0752ddf4"},
|
||||
{file = "pyobjc_core-8.5.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0accc653501a655f66c13f149a1d3d30e6cb65824edf852f7960a00c4f930d5b"},
|
||||
{file = "pyobjc_core-8.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:f82b32affc898e9e5af041c1cecde2c99f2ce160b87df77f678c99f1550a4655"},
|
||||
{file = "pyobjc_core-8.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:f7b2f6b6f3caeb882c658fe0c7098be2e8b79893d84daa8e636cb3e58a07df00"},
|
||||
{file = "pyobjc_core-8.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:872c0202c911a5a2f1269261c168e36569f6ddac17e5d854ac19e581726570cc"},
|
||||
{file = "pyobjc_core-8.5.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:21f92e231a4bae7f2d160d065f5afbf5e859a1e37f29d34ac12592205fc8c108"},
|
||||
{file = "pyobjc_core-8.5.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:315334dd09781129af6a39641248891c4caa57043901750b0139c6614ce84ec0"},
|
||||
]
|
||||
pyobjc-framework-Cocoa = [
|
||||
{file = "pyobjc-framework-Cocoa-8.5.1.tar.gz", hash = "sha256:9a3de5cdb4644e85daf53f2ed912ef6c16ea5804a9e65552eafe62c2e139eb8c"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:aa572acc2628488a47be8d19f4701fc96fce7377cc4da18316e1e08c3918521a"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:cb3ae21c8d81b7f02a891088c623cef61bca89bd671eff58c632d2f926b649f3"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:88f08f5bd94c66d373d8413c1d08218aff4cff0b586e0cc4249b2284023e7577"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:063683b57e4bd88cb0f9631ae65d25ec4eecf427d2fe8d0c578f88da9c896f3f"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8f8806ddfac40620fb27f185d0f8937e69e330617319ecc2eccf6b9c8451bdd1"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:7733a9a201df9e0cc2a0cf7bf54d76bd7981cba9b599353b243e3e0c9eefec10"},
|
||||
{file = "pyobjc_framework_Cocoa-8.5.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:f0ab227f99d3e25dd3db73f8cde0999914a5f0dd6a08600349d25f95eaa0da63"},
|
||||
]
|
||||
pyobjc-framework-CoreBluetooth = [
|
||||
{file = "pyobjc-framework-CoreBluetooth-8.5.1.tar.gz", hash = "sha256:b4f621fc3b5bf289db58e64fd746773b18297f87a0ffc5502de74f69133301c1"},
|
||||
{file = "pyobjc_framework_CoreBluetooth-8.5.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:bc720f2987a4d28dc73b13146e7c104d717100deb75c244da68f1d0849096661"},
|
||||
{file = "pyobjc_framework_CoreBluetooth-8.5.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:2167f22886beb5b3ae69e475e055403f28eab065c49a25e2b98b050b483be799"},
|
||||
{file = "pyobjc_framework_CoreBluetooth-8.5.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:aa9587a36eca143701731e8bb6c369148f8cc48c28168d41e7323828e5117f2d"},
|
||||
]
|
||||
pyobjc-framework-libdispatch = [
|
||||
{file = "pyobjc-framework-libdispatch-8.5.1.tar.gz", hash = "sha256:066fb34fceb326307559104d45532ec2c7b55426f9910b70dbefd5d1b8fd530f"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a316646ab30ba2a97bc828f8e27e7bb79efdf993d218a9c5118396b4f81dc762"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:7730a29e4d9c7d8c2e8d9ffb60af0ab6699b2186296d2bff0a2dd54527578bc3"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:76208d9d2b0071df2950800495ac0300360bb5f25cbe9ab880b65cb809764979"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:1ad9aa4773ff1d89bf4385c081824c4f8708b50e3ac2fe0a9d590153242c0f67"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:81e1833bd26f15930faba678f9efdffafc79ec04e2ea8b6d1b88cafc0883af97"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:73226e224436eb6383e7a8a811c90ed597995adb155b4f46d727881a383ac550"},
|
||||
{file = "pyobjc_framework_libdispatch-8.5.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:d115355ce446fc073c75cedfd7ab0a13958adda8e3a3b1e421e1f1e5f65640da"},
|
||||
]
|
||||
tomli = [
|
||||
{file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
|
||||
{file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
|
||||
]
|
||||
typing-extensions = [
|
||||
{file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
|
||||
{file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
|
||||
]
|
||||
@@ -1,18 +0,0 @@
|
||||
[tool.poetry]
|
||||
name = "ble-test"
|
||||
version = "0.1.0"
|
||||
description = ""
|
||||
authors = ["Danny Staple <danny@orionrobots.co.uk>"]
|
||||
readme = "README.md"
|
||||
packages = [{include = "ble_test"}]
|
||||
|
||||
[tool.poetry.dependencies]
|
||||
python = "^3.9"
|
||||
bleak = "0.19.0"
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
black = "^22.10.0"
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
@@ -1,38 +0,0 @@
|
||||
import asyncio
|
||||
|
||||
import bleak
|
||||
|
||||
|
||||
class BleConnection:
|
||||
# See https://learn.adafruit.com/introducing-adafruit-ble-bluetooth-low-energy-friend/uart-service
|
||||
ble_uuid = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
rx_gatt = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
tx_gatt = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
ble_name = "Adafruit Bluefruit LE"
|
||||
|
||||
def __init__(self, receive_handler):
|
||||
self.ble_client = None
|
||||
self.receive_handler = receive_handler
|
||||
|
||||
def _uart_handler(self, _, data: bytes):
|
||||
self.receive_handler(data)
|
||||
|
||||
async def connect(self):
|
||||
print("Scanning for devices...")
|
||||
devices = await bleak.BleakScanner.discover(service_uuids=[self.ble_uuid])
|
||||
print(f"Found {len(devices)} devices")
|
||||
print([device.name for device in devices])
|
||||
ble_device_info = [device for device in devices if device.name==self.ble_name][0]
|
||||
print(f"Connecting to {ble_device_info.name}...")
|
||||
self.ble_client = bleak.BleakClient(ble_device_info.address)
|
||||
await self.ble_client.connect()
|
||||
print("Connected to {}".format(ble_device_info.name))
|
||||
self.notify_task = asyncio.create_task(
|
||||
self.ble_client.start_notify(self.rx_gatt, self._uart_handler)
|
||||
)
|
||||
|
||||
async def close(self):
|
||||
await self.ble_client.disconnect()
|
||||
|
||||
async def send_uart_data(self, data):
|
||||
await self.ble_client.write_gatt_char(self.tx_gatt, data)
|
||||
@@ -1,22 +0,0 @@
|
||||
import asyncio
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
def handle_data(data):
|
||||
print(f"Response: {data}")
|
||||
|
||||
async def main():
|
||||
ble_connection = BleConnection(handle_data)
|
||||
await ble_connection.connect()
|
||||
try:
|
||||
while True:
|
||||
await asyncio.sleep(0.5)
|
||||
await ble_connection.send_uart_data(bytes([65, 66, 13]))# "Hello World".encode())
|
||||
await asyncio.sleep(3)
|
||||
await ble_connection.send_uart_data("Hello\nwith newline in middle".encode())
|
||||
await asyncio.sleep(3)
|
||||
await ble_connection.send_uart_data("Hello with newline as end\n".encode())
|
||||
await asyncio.sleep(2.5)
|
||||
finally:
|
||||
await ble_connection.close()
|
||||
|
||||
asyncio.run(main())
|
||||
@@ -1,13 +0,0 @@
|
||||
import board
|
||||
import busio
|
||||
import time
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
|
||||
while True:
|
||||
while uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
data = uart.readline()
|
||||
print(f"Received {data.decode()}")
|
||||
uart.write(f"Received {len(data)} bytes\n".encode())
|
||||
time.sleep(0.1)
|
||||
@@ -1,79 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from matplotlib.widgets import Button
|
||||
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
|
||||
class RobotDisplay:
|
||||
def __init__(self):
|
||||
self.ble_connection = BleConnection(self.handle_data)
|
||||
self.buffer = ""
|
||||
self.arena = {}
|
||||
self.closed = False
|
||||
self.fig, self.ax = plt.subplots()
|
||||
self.poses = np.zeros([20, 2], dtype=np.int16)
|
||||
self.motion = np.zeros([200, 3], dtype=float)
|
||||
|
||||
def handle_close(self, _):
|
||||
self.closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.buffer += data.decode("utf-8")
|
||||
while "\n" in self.buffer:
|
||||
line, self.buffer = self.buffer.split("\n", 1)
|
||||
print(f"Received data: {line}")
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except ValueError:
|
||||
print("Error parsing JSON")
|
||||
return
|
||||
if "arena" in message:
|
||||
self.arena = message
|
||||
if "poses" in message:
|
||||
incoming_poses = np.array(message["poses"], dtype=np.int16)
|
||||
self.poses = incoming_poses
|
||||
|
||||
def draw(self):
|
||||
self.ax.clear()
|
||||
if self.arena:
|
||||
for line in self.arena["arena"]:
|
||||
self.ax.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
|
||||
)
|
||||
self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
|
||||
|
||||
async def send_command(self, command):
|
||||
request = (json.dumps({"command": command}) ).encode()
|
||||
print(f"Sending request: {request}")
|
||||
await self.ble_connection.send_uart_data(request)
|
||||
|
||||
def start(self, _):
|
||||
self.button_task = asyncio.create_task(self.send_command("start"))
|
||||
|
||||
# def stop(self, _):
|
||||
# self.button_task = asyncio.create_task(self.send_command("stop"))
|
||||
|
||||
async def main(self):
|
||||
plt.ion()
|
||||
await self.ble_connection.connect()
|
||||
try:
|
||||
await self.send_command("arena")
|
||||
self.fig.canvas.mpl_connect("close_event", self.handle_close)
|
||||
start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
|
||||
start_button.on_clicked(self.start)
|
||||
# stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
|
||||
# stop_button.on_clicked(self.stop)
|
||||
while not self.closed:
|
||||
self.draw()
|
||||
plt.draw()
|
||||
plt.pause(0.05)
|
||||
await asyncio.sleep(0.01)
|
||||
finally:
|
||||
await self.ble_connection.close()
|
||||
|
||||
|
||||
robot_display = RobotDisplay()
|
||||
asyncio.run(robot_display.main())
|
||||
@@ -1,13 +0,0 @@
|
||||
import asyncio
|
||||
import bleak
|
||||
|
||||
async def run():
|
||||
ble_uuid = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
ble_name = "Adafruit Bluefruit LE"
|
||||
devices = await bleak.BleakScanner.discover(service_uuids=[ble_uuid])
|
||||
print(f"Found {len(devices)} devices")
|
||||
print([device.name for device in devices])
|
||||
ble_device_info = [device for device in devices if device.name==ble_name][0]
|
||||
print(f"Found robot {ble_device_info.name}...")
|
||||
|
||||
asyncio.run(run())
|
||||
Generated
-777
@@ -1,777 +0,0 @@
|
||||
[[package]]
|
||||
name = "async-timeout"
|
||||
version = "4.0.2"
|
||||
description = "Timeout context manager for asyncio programs"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[[package]]
|
||||
name = "black"
|
||||
version = "22.12.0"
|
||||
description = "The uncompromising code formatter."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.dependencies]
|
||||
click = ">=8.0.0"
|
||||
mypy-extensions = ">=0.4.3"
|
||||
pathspec = ">=0.9.0"
|
||||
platformdirs = ">=2"
|
||||
tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
|
||||
typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
|
||||
|
||||
[package.extras]
|
||||
colorama = ["colorama (>=0.4.3)"]
|
||||
d = ["aiohttp (>=3.7.4)"]
|
||||
jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
|
||||
uvloop = ["uvloop (>=0.15.2)"]
|
||||
|
||||
[[package]]
|
||||
name = "bleak"
|
||||
version = "0.19.0"
|
||||
description = "Bluetooth Low Energy platform Agnostic Klient"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7,<4.0"
|
||||
|
||||
[package.dependencies]
|
||||
async-timeout = ">=3.0.0,<5"
|
||||
bleak-winrt = {version = ">=1.2.0,<2.0.0", markers = "platform_system == \"Windows\""}
|
||||
dbus-fast = {version = ">=1.22.0,<2.0.0", markers = "platform_system == \"Linux\""}
|
||||
pyobjc-core = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
|
||||
pyobjc-framework-CoreBluetooth = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
|
||||
pyobjc-framework-libdispatch = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
|
||||
|
||||
[[package]]
|
||||
name = "bleak-winrt"
|
||||
version = "1.2.0"
|
||||
description = "Python WinRT bindings for Bleak"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
|
||||
[[package]]
|
||||
name = "click"
|
||||
version = "8.1.3"
|
||||
description = "Composable command line interface toolkit"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.dependencies]
|
||||
colorama = {version = "*", markers = "platform_system == \"Windows\""}
|
||||
|
||||
[[package]]
|
||||
name = "colorama"
|
||||
version = "0.4.6"
|
||||
description = "Cross-platform colored terminal text."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
|
||||
|
||||
[[package]]
|
||||
name = "contourpy"
|
||||
version = "1.0.6"
|
||||
description = "Python library for calculating contours of 2D quadrilateral grids"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.dependencies]
|
||||
numpy = ">=1.16"
|
||||
|
||||
[package.extras]
|
||||
bokeh = ["bokeh", "selenium"]
|
||||
docs = ["docutils (<0.18)", "sphinx (<=5.2.0)", "sphinx-rtd-theme"]
|
||||
test = ["Pillow", "flake8", "isort", "matplotlib", "pytest"]
|
||||
test-minimal = ["pytest"]
|
||||
test-no-codebase = ["Pillow", "matplotlib", "pytest"]
|
||||
|
||||
[[package]]
|
||||
name = "cycler"
|
||||
version = "0.11.0"
|
||||
description = "Composable style cycles"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[[package]]
|
||||
name = "dbus-fast"
|
||||
version = "1.83.0"
|
||||
description = "A faster version of dbus-next"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7,<4.0"
|
||||
|
||||
[package.dependencies]
|
||||
async-timeout = {version = ">=3.0.0", markers = "python_version < \"3.11\""}
|
||||
|
||||
[[package]]
|
||||
name = "fonttools"
|
||||
version = "4.38.0"
|
||||
description = "Tools to manipulate font files"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=14.0.0)", "xattr", "zopfli (>=0.1.4)"]
|
||||
graphite = ["lz4 (>=1.7.4.2)"]
|
||||
interpolatable = ["munkres", "scipy"]
|
||||
lxml = ["lxml (>=4.0,<5)"]
|
||||
pathops = ["skia-pathops (>=0.5.0)"]
|
||||
plot = ["matplotlib"]
|
||||
repacker = ["uharfbuzz (>=0.23.0)"]
|
||||
symfont = ["sympy"]
|
||||
type1 = ["xattr"]
|
||||
ufo = ["fs (>=2.2.0,<3)"]
|
||||
unicode = ["unicodedata2 (>=14.0.0)"]
|
||||
woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
|
||||
|
||||
[[package]]
|
||||
name = "kiwisolver"
|
||||
version = "1.4.4"
|
||||
description = "A fast implementation of the Cassowary constraint solver"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "matplotlib"
|
||||
version = "3.6.1"
|
||||
description = "Python plotting package"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
|
||||
[package.dependencies]
|
||||
contourpy = ">=1.0.1"
|
||||
cycler = ">=0.10"
|
||||
fonttools = ">=4.22.0"
|
||||
kiwisolver = ">=1.0.1"
|
||||
numpy = ">=1.19"
|
||||
packaging = ">=20.0"
|
||||
pillow = ">=6.2.0"
|
||||
pyparsing = ">=2.2.1"
|
||||
python-dateutil = ">=2.7"
|
||||
setuptools_scm = ">=7"
|
||||
|
||||
[[package]]
|
||||
name = "mypy-extensions"
|
||||
version = "0.4.3"
|
||||
description = "Experimental type system extensions for programs checked with the mypy typechecker."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
|
||||
[[package]]
|
||||
name = "numpy"
|
||||
version = "1.23.4"
|
||||
description = "NumPy is the fundamental package for array computing with Python."
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
|
||||
[[package]]
|
||||
name = "packaging"
|
||||
version = "22.0"
|
||||
description = "Core utilities for Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "pathspec"
|
||||
version = "0.10.3"
|
||||
description = "Utility library for gitignore style pattern matching of file paths."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "Pillow"
|
||||
version = "9.3.0"
|
||||
description = "Python Imaging Library (Fork)"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
|
||||
tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
|
||||
|
||||
[[package]]
|
||||
name = "platformdirs"
|
||||
version = "2.6.0"
|
||||
description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
|
||||
test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
|
||||
|
||||
[[package]]
|
||||
name = "pyobjc-core"
|
||||
version = "8.5.1"
|
||||
description = "Python<->ObjC Interoperability Module"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[[package]]
|
||||
name = "pyobjc-framework-Cocoa"
|
||||
version = "8.5.1"
|
||||
description = "Wrappers for the Cocoa frameworks on macOS"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyobjc-core = ">=8.5.1"
|
||||
|
||||
[[package]]
|
||||
name = "pyobjc-framework-CoreBluetooth"
|
||||
version = "8.5.1"
|
||||
description = "Wrappers for the framework CoreBluetooth on macOS"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyobjc-core = ">=8.5.1"
|
||||
pyobjc-framework-Cocoa = ">=8.5.1"
|
||||
|
||||
[[package]]
|
||||
name = "pyobjc-framework-libdispatch"
|
||||
version = "8.5.1"
|
||||
description = "Wrappers for libdispatch on macOS"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyobjc-core = ">=8.5.1"
|
||||
|
||||
[[package]]
|
||||
name = "pyparsing"
|
||||
version = "3.0.9"
|
||||
description = "pyparsing module - Classes and methods to define and execute parsing grammars"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6.8"
|
||||
|
||||
[package.extras]
|
||||
diagrams = ["jinja2", "railroad-diagrams"]
|
||||
|
||||
[[package]]
|
||||
name = "python-dateutil"
|
||||
version = "2.8.2"
|
||||
description = "Extensions to the standard Python datetime module"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
|
||||
|
||||
[package.dependencies]
|
||||
six = ">=1.5"
|
||||
|
||||
[[package]]
|
||||
name = "setuptools"
|
||||
version = "65.6.3"
|
||||
description = "Easily download, build, install, upgrade, and uninstall Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
|
||||
testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
|
||||
testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
|
||||
|
||||
[[package]]
|
||||
name = "setuptools-scm"
|
||||
version = "7.1.0"
|
||||
description = "the blessed package to manage your versions by scm tags"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.dependencies]
|
||||
packaging = ">=20.0"
|
||||
setuptools = "*"
|
||||
tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
|
||||
typing-extensions = "*"
|
||||
|
||||
[package.extras]
|
||||
test = ["pytest (>=6.2)", "virtualenv (>20)"]
|
||||
toml = ["setuptools (>=42)"]
|
||||
|
||||
[[package]]
|
||||
name = "six"
|
||||
version = "1.16.0"
|
||||
description = "Python 2 and 3 compatibility utilities"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
|
||||
|
||||
[[package]]
|
||||
name = "tomli"
|
||||
version = "2.0.1"
|
||||
description = "A lil' TOML parser"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "typing-extensions"
|
||||
version = "4.4.0"
|
||||
description = "Backported and Experimental Type Hints for Python 3.7+"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[metadata]
|
||||
lock-version = "1.1"
|
||||
python-versions = "^3.9"
|
||||
content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
|
||||
|
||||
[metadata.files]
|
||||
async-timeout = [
|
||||
{file = "async-timeout-4.0.2.tar.gz", hash = "sha256:2163e1640ddb52b7a8c80d0a67a08587e5d245cc9c553a74a847056bc2976b15"},
|
||||
{file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
|
||||
]
|
||||
black = [
|
||||
{file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
|
||||
{file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
|
||||
{file = "black-22.12.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d30b212bffeb1e252b31dd269dfae69dd17e06d92b87ad26e23890f3efea366f"},
|
||||
{file = "black-22.12.0-cp311-cp311-win_amd64.whl", hash = "sha256:7412e75863aa5c5411886804678b7d083c7c28421210180d67dfd8cf1221e1f4"},
|
||||
{file = "black-22.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c116eed0efb9ff870ded8b62fe9f28dd61ef6e9ddd28d83d7d264a38417dcee2"},
|
||||
{file = "black-22.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:1f58cbe16dfe8c12b7434e50ff889fa479072096d79f0a7f25e4ab8e94cd8350"},
|
||||
{file = "black-22.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77d86c9f3db9b1bf6761244bc0b3572a546f5fe37917a044e02f3166d5aafa7d"},
|
||||
{file = "black-22.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:82d9fe8fee3401e02e79767016b4907820a7dc28d70d137eb397b92ef3cc5bfc"},
|
||||
{file = "black-22.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:101c69b23df9b44247bd88e1d7e90154336ac4992502d4197bdac35dd7ee3320"},
|
||||
{file = "black-22.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:559c7a1ba9a006226f09e4916060982fd27334ae1998e7a38b3f33a37f7a2148"},
|
||||
{file = "black-22.12.0-py3-none-any.whl", hash = "sha256:436cc9167dd28040ad90d3b404aec22cedf24a6e4d7de221bec2730ec0c97bcf"},
|
||||
{file = "black-22.12.0.tar.gz", hash = "sha256:229351e5a18ca30f447bf724d007f890f97e13af070bb6ad4c0a441cd7596a2f"},
|
||||
]
|
||||
bleak = [
|
||||
{file = "bleak-0.19.0-py3-none-any.whl", hash = "sha256:ccdba0d17dcceb1326e4e46600b37e9019cd52ce01948e2a3dbd6c94d1e4de01"},
|
||||
{file = "bleak-0.19.0.tar.gz", hash = "sha256:cce5200ca9bac7daaa74dd009c867c8c2b161a124e234c74307462e86caf50e6"},
|
||||
]
|
||||
bleak-winrt = [
|
||||
{file = "bleak-winrt-1.2.0.tar.gz", hash = "sha256:0577d070251b9354fc6c45ffac57e39341ebb08ead014b1bdbd43e211d2ce1d6"},
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|
||||
{file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
|
||||
]
|
||||
setuptools = [
|
||||
{file = "setuptools-65.6.3-py3-none-any.whl", hash = "sha256:57f6f22bde4e042978bcd50176fdb381d7c21a9efa4041202288d3737a0c6a54"},
|
||||
{file = "setuptools-65.6.3.tar.gz", hash = "sha256:a7620757bf984b58deaf32fc8a4577a9bbc0850cf92c20e1ce41c38c19e5fb75"},
|
||||
]
|
||||
setuptools-scm = [
|
||||
{file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
|
||||
{file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
|
||||
]
|
||||
six = [
|
||||
{file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
|
||||
{file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
|
||||
]
|
||||
tomli = [
|
||||
{file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
|
||||
{file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
|
||||
]
|
||||
typing-extensions = [
|
||||
{file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
|
||||
{file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
|
||||
]
|
||||
@@ -1,21 +0,0 @@
|
||||
[tool.poetry]
|
||||
name = "modelling-space"
|
||||
version = "0.1.0"
|
||||
description = ""
|
||||
authors = ["Danny Staple <danny@orionrobots.co.uk>"]
|
||||
readme = "README.md"
|
||||
packages = [{include = "modelling_space"}]
|
||||
|
||||
[tool.poetry.dependencies]
|
||||
python = "^3.9"
|
||||
matplotlib = "3.6.1"
|
||||
numpy = "1.23.4"
|
||||
bleak = "0.19.0"
|
||||
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
black = "^22.10.0"
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
@@ -1,27 +0,0 @@
|
||||
import arena
|
||||
from matplotlib import pyplot as plt
|
||||
import numpy as np
|
||||
|
||||
def draw_arena_boundaries(arena):
|
||||
for line in arena:
|
||||
plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red")
|
||||
|
||||
def draw_distance_grid(ax):
|
||||
overscan_size = arena.overscan * arena.grid_cell_size
|
||||
|
||||
ax.imshow(
|
||||
arena.distance_grid.T,
|
||||
extent = [-overscan_size, arena.width + overscan_size, -overscan_size, arena.height + overscan_size],
|
||||
origin="lower",
|
||||
cmap="gray",
|
||||
norm="log",
|
||||
)
|
||||
|
||||
fig, ax = plt.subplots()
|
||||
draw_arena_boundaries(arena.boundary_lines)
|
||||
print("Value at 0, 1500 is", arena.get_distance_grid_at_point(0, 1500))
|
||||
# print("Value at 1000, 500 is", arena.get_distance_grid_at_point(1000, 500))
|
||||
# print("Value at 500, 1000 is", arena.get_distance_grid_at_point(500, 1000))
|
||||
# print("Value at 550, 1000 is", arena.get_distance_grid_at_point(550, 1000))
|
||||
draw_distance_grid(ax)
|
||||
plt.show()
|
||||
@@ -1,3 +0,0 @@
|
||||
matplotlib==3.6.1
|
||||
numpy==1.23.4
|
||||
bleak==0.19.0
|
||||
@@ -1,86 +0,0 @@
|
||||
"""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
|
||||
|
||||
# 0, 0 is bottom left. Heading 0 is right, with heading increasing anticlockwise. Standard position angles.
|
||||
|
||||
def point_is_inside_arena(x, y):
|
||||
"""Return True if the point is inside the arena.
|
||||
if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
|
||||
"""
|
||||
# is it inside the rectangle?
|
||||
if x < 0 or x > width \
|
||||
or y < 0 or y > height:
|
||||
return False
|
||||
# is it inside the cutout?
|
||||
if x > 1000 and y < 500:
|
||||
return False
|
||||
return True
|
||||
|
||||
def get_point_distance_to_segment(x, y, segment):
|
||||
"""Return the distance squared from the point to the segment.
|
||||
Segment -> ((x1, y1), (x2, y2))
|
||||
All segments are horizontal or vertical.
|
||||
"""
|
||||
segment_x1, segment_y1 = segment[0]
|
||||
segment_x2, segment_y2 = segment[1]
|
||||
# if the segment is horizontal, the point will be closest to the y value of the segment
|
||||
if segment_y1 == segment_y2 and x >= min(segment_x1, segment_x2) and x <= max(segment_x1, segment_x2):
|
||||
return abs(y - segment_y1)
|
||||
# if the segment is vertical, the point will be closest to the x value of the segment
|
||||
if segment_x1 == segment_x2 and y >= min(segment_y1, segment_y2) and y <= max(segment_y1, segment_y2):
|
||||
return abs(x - segment_x1)
|
||||
# the point will be closest to one of the end points
|
||||
return np.sqrt(min((x - segment_x1) ** 2 + (y - segment_y1) ** 2, (x - segment_x2) ** 2 + (y - segment_y2) ** 2))
|
||||
|
||||
|
||||
def get_point_decay_from_nearest_segment(segments, x, y):
|
||||
"""Return the distance from the point to the nearest segment as a decay function."""
|
||||
max_decay = None
|
||||
for segment in segments:
|
||||
decay = 1.0 / max(1, get_point_distance_to_segment(x, y, segment))
|
||||
if max_decay is None or decay > max_decay:
|
||||
max_decay = decay
|
||||
return max_decay
|
||||
|
||||
|
||||
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.uint8)
|
||||
# 4kb as floats, 1 kb as uint8s.
|
||||
for x in range(grid.shape[0]):
|
||||
column_x = x * grid_cell_size - (overscan * grid_cell_size)
|
||||
for y in range(grid.shape[1]):
|
||||
value = int(get_point_decay_from_nearest_segment(boundary_lines, column_x, y * grid_cell_size - (overscan * grid_cell_size)) * 255)
|
||||
grid[x, y] = value
|
||||
return grid
|
||||
|
||||
distance_grid = make_distance_grid()
|
||||
|
||||
def get_distance_grid_at_point(x, y):
|
||||
"""Return the distance grid value at the given point."""
|
||||
grid_x = int(x // grid_cell_size + overscan)
|
||||
grid_y = int(y // grid_cell_size + overscan)
|
||||
if grid_x < 0 or grid_x >= distance_grid.shape[0] or grid_y < 0 or grid_y >= distance_grid.shape[1]:
|
||||
return 0
|
||||
return distance_grid[grid_x, grid_y]
|
||||
@@ -1,284 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import random
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
class DistanceSensorTracker:
|
||||
def __init__(self):
|
||||
robot.left_distance.distance_mode = 2
|
||||
robot.right_distance.distance_mode = 2
|
||||
robot.left_distance.timing_budget = 50
|
||||
robot.right_distance.timing_budget = 50
|
||||
self.left = 300
|
||||
self.right = 300
|
||||
|
||||
async def main(self):
|
||||
robot.left_distance.start_ranging()
|
||||
robot.right_distance.start_ranging()
|
||||
while True:
|
||||
if robot.left_distance.data_ready and robot.left_distance.distance:
|
||||
self.left = robot.left_distance.distance * 10 # convert to mm
|
||||
robot.left_distance.clear_interrupt()
|
||||
if robot.right_distance.data_ready and robot.right_distance.distance:
|
||||
self.right = robot.right_distance.distance * 10
|
||||
robot.right_distance.clear_interrupt()
|
||||
await asyncio.sleep(0.01)
|
||||
|
||||
|
||||
class CollisionAvoid:
|
||||
def __init__(self, distance_sensors):
|
||||
self.speed = 0.6
|
||||
self.distance_sensors = distance_sensors
|
||||
|
||||
async def main(self):
|
||||
while True:
|
||||
robot.set_right(self.speed)
|
||||
while self.distance_sensors.left < 300 or \
|
||||
self.distance_sensors.right < 300:
|
||||
robot.set_left(-self.speed)
|
||||
await asyncio.sleep(0.3)
|
||||
robot.set_left(self.speed)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
def get_scaled_sample_around_mean(mean, scale):
|
||||
return mean + (random.uniform(-scale, scale) + random.uniform(-scale, scale)) / 2
|
||||
|
||||
def convert_to_standard_position(true_bearing):
|
||||
standard_position = 90 - true_bearing
|
||||
if standard_position > 180:
|
||||
standard_position -= 360
|
||||
elif standard_position < -180:
|
||||
standard_position += 360
|
||||
return standard_position
|
||||
|
||||
|
||||
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 = 200
|
||||
self.imu_mix = 0.3 * 0.5
|
||||
self.encoder_mix = 0.7
|
||||
self.rotation_scale = 0.5 # degrees
|
||||
self.speed_scale = 3 # mm
|
||||
|
||||
# Poses - each an array of [x, y, heading]
|
||||
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,
|
||||
)
|
||||
self.distance_sensors = DistanceSensorTracker()
|
||||
self.collision_avoider = CollisionAvoid(self.distance_sensors)
|
||||
self.last_encoder_left = robot.left_encoder.read()
|
||||
self.last_encoder_right = robot.right_encoder.read()
|
||||
|
||||
async def apply_sensor_model(self):
|
||||
# Based on vl53l1x sensor readings, create weight for each pose.
|
||||
# vl53l1x standard dev is +/- 5 mm. Each distance is a mean reading
|
||||
# we will first determine sensor positions based on poses
|
||||
# project forward based on distances sensed, introducing noise (based on standard dev)
|
||||
# then check this projected position against occupancy grid
|
||||
# and weight accordingly
|
||||
|
||||
# distance sensor positions projected forward. x, y
|
||||
distance_sensor_left = np.zeros(
|
||||
(self.poses.shape[0], 2), dtype=np.float)
|
||||
distance_sensor_right = np.zeros(
|
||||
(self.poses.shape[0], 2), dtype=np.float)
|
||||
# sensors - they are facing forward, either side of the robot. Project them out to the sides
|
||||
# based on each poses heading and turn sensors into rays,
|
||||
# left sensor
|
||||
poses_left_90 = np.radians(self.poses[:, 2] + 90)
|
||||
distance_sensor_left[:, 0] = self.poses[:, 0] + np.cos(poses_left_90) * robot.distance_sensor_from_middle
|
||||
distance_sensor_left[:, 1] = self.poses[:, 1] + np.sin(poses_left_90) * robot.distance_sensor_from_middle
|
||||
# now project forward by distance sensor range
|
||||
distance_sensor_left[:, 0] += np.cos(self.poses[:, 2]) * self.distance_sensors.left
|
||||
distance_sensor_left[:, 1] += np.sin(self.poses[:, 2]) * self.distance_sensors.left
|
||||
# right sensor
|
||||
poses_right_90 = np.radians(self.poses[:, 2] - 90)
|
||||
distance_sensor_right[:, 0] = self.poses[:, 0] + np.cos(poses_right_90) * robot.distance_sensor_from_middle
|
||||
distance_sensor_right[:, 1] = self.poses[:, 1] + np.sin(poses_right_90) * robot.distance_sensor_from_middle
|
||||
# now project forward by distance sensor range
|
||||
distance_sensor_right[:, 0] += np.cos(self.poses[:, 2]) * self.distance_sensors.right
|
||||
distance_sensor_right[:, 1] += np.sin(self.poses[:, 2]) * self.distance_sensors.right
|
||||
|
||||
await asyncio.sleep(0)
|
||||
# weighted poses a numpy array of weights for each pose
|
||||
weights = np.zeros(self.poses.shape[0], dtype=np.float)
|
||||
for index in range(self.poses.shape[0]):
|
||||
# remove any that are outside the arena
|
||||
if not arena.point_is_inside_arena(self.poses[index,0], self.poses[index,1]):
|
||||
weights[index] = 0
|
||||
continue
|
||||
# difference between this distance and the distance sensed is the error
|
||||
# weight is the inverse of the error
|
||||
weights[index] = arena.get_distance_grid_at_point(distance_sensor_left[index,0], distance_sensor_left[index,1])
|
||||
weights[index] += arena.get_distance_grid_at_point(distance_sensor_right[index,0], distance_sensor_right[index,1])
|
||||
await asyncio.sleep(0)
|
||||
#normalise the weights
|
||||
weights = weights / np.sum(weights)
|
||||
return weights
|
||||
|
||||
def resample(self, weights, sample_count):
|
||||
"""Return sample_count number of samples from the
|
||||
poses, based on the weights array.
|
||||
Uses low variance resampling"""
|
||||
samples = []
|
||||
start = random.uniform(0, 1 / sample_count)
|
||||
cumulative_weights = weights[0]
|
||||
source_index = 0
|
||||
for current_index in range(sample_count):
|
||||
weight_index = start + current_index / sample_count
|
||||
while weight_index > cumulative_weights:
|
||||
source_index += 1
|
||||
cumulative_weights += weights[source_index]
|
||||
samples.append(source_index)
|
||||
return np.array([self.poses[n] for n in samples])
|
||||
|
||||
def convert_odometry_to_motion(self, left_encoder_delta, right_encoder_delta):
|
||||
"""
|
||||
left_encoder is the change in the left encoder
|
||||
right_encoder is the change in the right encoder
|
||||
returns rot1, trans, rot2
|
||||
rot1 is the rotation of the robot in degrees before the translation
|
||||
trans is the distance the robot has moved in mm
|
||||
rot2 is the rotation of the robot in degrees
|
||||
"""
|
||||
left_mm = left_encoder_delta * robot.ticks_to_mm
|
||||
right_mm = right_encoder_delta * robot.ticks_to_mm
|
||||
|
||||
if left_mm == right_mm:
|
||||
# no rotation
|
||||
return 0, left_mm, 0
|
||||
|
||||
# calculate the radius of the arc
|
||||
radius = (robot.wheelbase_mm / 2) * (left_mm + right_mm) / (right_mm - left_mm)
|
||||
## angle = difference in steps / wheelbase
|
||||
d_theta = (right_mm - left_mm) / robot.wheelbase_mm
|
||||
# For a small enough motion, assume that the chord length = arc length
|
||||
arc_length = d_theta * radius
|
||||
rot1 = np.degrees(d_theta/2)
|
||||
rot2 = rot1
|
||||
return rot1, arc_length, rot2
|
||||
|
||||
async def motion_model(self):
|
||||
"""move forward, apply the motion model"""
|
||||
new_heading = robot.imu.euler[0]
|
||||
new_encoder_left = robot.left_encoder.read()
|
||||
new_encoder_right = robot.right_encoder.read()
|
||||
|
||||
rot1, trans, rot2 = self.convert_odometry_to_motion(
|
||||
new_encoder_left - self.last_encoder_left,
|
||||
new_encoder_right - self.last_encoder_right)
|
||||
self.last_encoder_left = new_encoder_left
|
||||
self.last_encoder_right = new_encoder_right
|
||||
try:
|
||||
new_heading = robot.imu.euler[0]
|
||||
except OSError:
|
||||
new_heading = None
|
||||
if new_heading:
|
||||
heading_change = self.last_heading - new_heading
|
||||
self.last_heading = new_heading
|
||||
# convert heading from true bearing to standard position
|
||||
heading_change = convert_to_standard_position(heading_change)
|
||||
# blend with the encoder heading changes
|
||||
rot1 = rot1 * self.encoder_mix + heading_change * self.imu_mix
|
||||
rot2 = rot2 * self.encoder_mix + heading_change * self.imu_mix
|
||||
else:
|
||||
print("Failed to get heading")
|
||||
await asyncio.sleep(0)
|
||||
rot1_model = np.array([get_scaled_sample_around_mean(rot1, self.rotation_scale) for _ in range(self.poses.shape[0])])
|
||||
trans_model = np.array([get_scaled_sample_around_mean(trans, self.speed_scale) for _ in range(self.poses.shape[0])])
|
||||
rot2_model = np.array([get_scaled_sample_around_mean(rot2, self.rotation_scale) for _ in range(self.poses.shape[0])])
|
||||
self.poses[:,2] += rot1_model
|
||||
rot1_radians = np.radians(self.poses[:,2])
|
||||
self.poses[:,0] += trans_model * np.cos(rot1_radians)
|
||||
self.poses[:,1] += trans_model * np.sin(rot1_radians)
|
||||
self.poses[:,2] += rot2_model
|
||||
self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
|
||||
|
||||
async def main(self):
|
||||
asyncio.create_task(self.distance_sensors.main())
|
||||
asyncio.create_task(self.collision_avoider.main())
|
||||
self.last_heading = robot.imu.euler[0]
|
||||
try:
|
||||
while True:
|
||||
weights = await self.apply_sensor_model()
|
||||
send_poses(self.resample(weights, 20))
|
||||
self.poses = self.resample(weights, self.population_size)
|
||||
await asyncio.sleep(0)
|
||||
await self.motion_model()
|
||||
finally:
|
||||
robot.stop()
|
||||
|
||||
|
||||
|
||||
|
||||
async def updater(simulation):
|
||||
print("starting updater")
|
||||
while True:
|
||||
sys_status, gyro, accel, mag = robot.imu.calibration_status
|
||||
if sys_status < 3:
|
||||
send_json(
|
||||
{
|
||||
"imu_calibration": {
|
||||
"gyro": gyro,
|
||||
"accel": accel,
|
||||
"mag": mag,
|
||||
"sys": sys_status,
|
||||
}
|
||||
}
|
||||
)
|
||||
await asyncio.sleep(0.5)
|
||||
|
||||
|
||||
async def command_handler(simulation):
|
||||
print("Starting handler")
|
||||
update_task = None
|
||||
simulation_task = None
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
request = read_json()
|
||||
if not request:
|
||||
print("no request")
|
||||
continue
|
||||
print("Received: ", request)
|
||||
if request["command"] == "arena":
|
||||
send_json({
|
||||
"arena": arena.boundary_lines,
|
||||
})
|
||||
if not update_task:
|
||||
update_task = asyncio.create_task(updater(simulation))
|
||||
elif request["command"] == "start":
|
||||
if not simulation_task:
|
||||
simulation_task = asyncio.create_task(simulation.main())
|
||||
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
|
||||
simulation = Simulation()
|
||||
asyncio.run(command_handler(simulation))
|
||||
@@ -1,27 +0,0 @@
|
||||
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
|
||||
@@ -1,84 +0,0 @@
|
||||
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]
|
||||
@@ -1,76 +0,0 @@
|
||||
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_mm = wheel_circumference_mm / ticks_per_revolution
|
||||
ticks_to_m = ticks_to_mm / 1000
|
||||
m_to_ticks = 1 / ticks_to_m
|
||||
wheelbase_mm = 170
|
||||
distance_sensor_from_middle = 40 # approx mm
|
||||
|
||||
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
|
||||
@@ -1,40 +0,0 @@
|
||||
import asyncio
|
||||
|
||||
import bleak
|
||||
|
||||
|
||||
class BleConnection:
|
||||
# See https://learn.adafruit.com/introducing-adafruit-ble-bluetooth-low-energy-friend/uart-service
|
||||
ble_uuid = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
rx_gatt = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
tx_gatt = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
|
||||
ble_name = "Adafruit Bluefruit LE"
|
||||
|
||||
def __init__(self, receive_handler):
|
||||
self.ble_client = None
|
||||
self.receive_handler = receive_handler
|
||||
|
||||
def _uart_handler(self, _, data: bytes):
|
||||
self.receive_handler(data)
|
||||
|
||||
async def connect(self):
|
||||
print("Scanning for devices...")
|
||||
devices = await bleak.BleakScanner.discover(
|
||||
service_uuids=[self.ble_uuid]
|
||||
)
|
||||
print(f"Found {len(devices)} devices")
|
||||
print([device.name for device in devices])
|
||||
ble_device_info = [device for device in devices if device.name==self.ble_name][0]
|
||||
print(f"Connecting to {ble_device_info.name}...")
|
||||
self.ble_client = bleak.BleakClient(ble_device_info.address)
|
||||
await self.ble_client.connect()
|
||||
print("Connected to {}".format(ble_device_info.name))
|
||||
self.notify_task = asyncio.create_task(
|
||||
self.ble_client.start_notify(self.rx_gatt, self._uart_handler)
|
||||
)
|
||||
|
||||
async def close(self):
|
||||
await self.ble_client.disconnect()
|
||||
|
||||
async def send_uart_data(self, data):
|
||||
await self.ble_client.write_gatt_char(self.tx_gatt, data)
|
||||
@@ -1,75 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import time
|
||||
|
||||
import pid_controller
|
||||
import robot
|
||||
|
||||
|
||||
class RpmSpeedController:
|
||||
def __init__(self, encoder, motor_fn):
|
||||
self.encoder = encoder
|
||||
self.motor_fn = motor_fn
|
||||
self.pid = pid_controller.PIDController(3, 0, 1)
|
||||
self.speed = 0
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.last_ticks = self.encoder.read()
|
||||
self.pwm = 0
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, dt):
|
||||
current_ticks = self.encoder.read()
|
||||
speed_in_ticks = (current_ticks - self.last_ticks) / dt
|
||||
self.last_ticks = current_ticks
|
||||
# calculate the error
|
||||
error = self.speed - speed_in_ticks
|
||||
# calculate the control signal
|
||||
control_signal = self.pid.calculate(error, dt)
|
||||
self.pwm += control_signal
|
||||
self.motor_fn(self.pwm)
|
||||
|
||||
|
||||
class MotionControl:
|
||||
def __init__(self):
|
||||
self.left_speed_controller = RpmSpeedController(robot.left_encoder, robot.set_left)
|
||||
self.right_speed_controller = RpmSpeedController(robot.right_encoder, robot.set_right)
|
||||
|
||||
|
||||
def plan_motion(self, turn1, distance, turn2):
|
||||
"""Plan a motion - based on making a turn,
|
||||
moving forward a distance,
|
||||
and then making another turn."""
|
||||
|
||||
pass
|
||||
|
||||
def uodate(self, dt):
|
||||
self.left_speed_controller.update(dt)
|
||||
self.right_speed_controller.update(dt)
|
||||
|
||||
|
||||
async def main_loop(dt):
|
||||
motion_control = MotionControl()
|
||||
while True:
|
||||
await asyncio.sleep(dt)
|
||||
current_time = time.monotonic()
|
||||
dt = current_time - last_time
|
||||
last_time = current_time
|
||||
motion_control.uodate(dt)
|
||||
|
||||
|
||||
async def command_handler():
|
||||
main_loop = None
|
||||
motion_control = MotionControl()
|
||||
robot = robot.Robot()
|
||||
while True:
|
||||
command = json.loads(input())
|
||||
if command["command"] == "start":
|
||||
main_loop = asyncio.create_task(main_loop(0.2))
|
||||
elif command["command"] == "get_speed":
|
||||
print(json.dumps(robot.get_speed()))
|
||||
else:
|
||||
print("Unknown command")
|
||||
|
||||
asyncio.run(command_handler())
|
||||
@@ -1,27 +0,0 @@
|
||||
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
|
||||
@@ -1,84 +0,0 @@
|
||||
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]
|
||||
@@ -1,78 +0,0 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import busio
|
||||
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)
|
||||
|
||||
distance_sensor_from_middle = 40 # approx mm
|
||||
|
||||
imu = adafruit_bno055.BNO055_I2C(i2c0)
|
||||
imu.mode = adafruit_bno055.NDOF_MODE # should be in chapter 12!
|
||||
|
||||
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
|
||||
Reference in New Issue
Block a user