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ch-10 clean

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This commit is contained in:
Danny Staple 2022-03-20 22:31:18 +00:00
parent c632222255
commit b595f3be54
14 changed files with 369 additions and 356 deletions
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7
ch-10/1-follow/follow.py
View File

@ -2,11 +2,12 @@ import time
import robot import robot
import pid import pid
class FollowObject: class FollowObject:
def __init__(self): def __init__(self):
self.max_speed = 0.9 self.max_speed = 0.9
self.follow_pid = pid.PID(0.1, 0.1, 0.015, 15) self.follow_pid = pid.PID(0.1, 0.1, 0.015, 15)
self.last_time = time.monotonic_ns() self.last_time = time.monotonic()
self.left_dist = 0 self.left_dist = 0
self.pid_output = 0 self.pid_output = 0
@ -19,7 +20,7 @@ class FollowObject:
self.left_dist = robot.left_distance.distance self.left_dist = robot.left_distance.distance
# calculate time delta # calculate time delta
new_time = time.monotonic_ns() new_time = time.monotonic()
time_delta = new_time - self.last_time time_delta = new_time - self.last_time
self.last_time = new_time self.last_time = new_time
@ -37,7 +38,6 @@ class FollowObject:
def main_loop(self): def main_loop(self):
robot.left_distance.start_ranging() robot.left_distance.start_ranging()
self.last_time = time.monotonic()
while True: while True:
self.movement_update() self.movement_update()
@ -51,4 +51,5 @@ class FollowObject:
robot.left_distance.clear_interrupt() robot.left_distance.clear_interrupt()
robot.left_distance.stop_ranging() robot.left_distance.stop_ranging()
FollowObject().start() FollowObject().start()

6
ch-10/1-follow/pio_encoder.py
View File

@ -54,6 +54,7 @@ send:
assembled = adafruit_pioasm.assemble(program) assembled = adafruit_pioasm.assemble(program)
class QuadratureEncoder: class QuadratureEncoder:
def __init__(self, first_pin, second_pin, reversed=False): def __init__(self, first_pin, second_pin, reversed=False):
"""Encoder with 2 pins. Must use sequential pins on the board""" """Encoder with 2 pins. Must use sequential pins on the board"""
@ -62,10 +63,10 @@ class QuadratureEncoder:
frequency=0, frequency=0,
first_in_pin=first_pin, first_in_pin=first_pin,
jmp_pin=second_pin, jmp_pin=second_pin,
in_pin_count=2 in_pin_count=2,
) )
self.reversed = reversed self.reversed = reversed
self._buffer = array.array('i', [0]) self._buffer = array.array("i", [0])
def read(self): def read(self):
while self.sm.in_waiting: while self.sm.in_waiting:
@ -74,4 +75,3 @@ class QuadratureEncoder:
return -self._buffer[0] return -self._buffer[0]
else: else:
return self._buffer[0] return self._buffer[0]

6
ch-10/1-follow/robot.py
View File

@ -29,6 +29,7 @@ def stop():
motor_B1.duty_cycle = 0 motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0 motor_B2.duty_cycle = 0
def set_speed(motor, speed): def set_speed(motor, speed):
# Swap motor pins if we reverse the speed # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
@ -37,14 +38,15 @@ def set_speed(motor, speed):
else: else:
direction = motor direction = motor
speed = min(speed, 1) # limit to 1.0 speed = min(speed, 1) # limit to 1.0
max_speed = 2**16-1 max_speed = 2 ** 16 - 1
direction[0].duty_cycle = int(max_speed * speed) direction[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)

23
ch-10/2-graphing/graphing_follow.py
View File

@ -16,7 +16,7 @@ class FollowObject:
self.wifi = None self.wifi = None
self.server = None self.server = None
self.last_time = time.monotonic_ns() self.last_time = time.monotonic()
self.left_dist = 0 self.left_dist = 0
self.pid_output = 0 self.pid_output = 0
@ -26,10 +26,7 @@ class FollowObject:
def setup_wifi(self, app): def setup_wifi(self, app):
print("Setting up wifi.") print("Setting up wifi.")
self.wifi, esp = robot_wifi.connect_to_wifi() self.wifi, esp = robot_wifi.connect_to_wifi()
self.server = adafruit_esp32spi_wsgiserver.WSGIServer( self.server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
80,
application=app
)
adafruit_esp32spi_wsgiserver.set_interface(esp) adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Starting server") print("Starting server")
@ -38,13 +35,19 @@ class FollowObject:
print(f"IP Address is {ip_int}") print(f"IP Address is {ip_int}")
def index(self, request): def index(self, request):
return 200, [('Content-Type', 'application/json')], [json.dumps( return (
200,
[("Content-Type", "application/json")],
[
json.dumps(
{ {
"last_value": self.follow_pid.last_value, "last_value": self.follow_pid.last_value,
"pid_output": self.pid_output, "pid_output": self.pid_output,
"time": self.last_time "time": self.last_time,
} }
)] )
],
)
def movement_update(self): def movement_update(self):
# do we have data # do we have data
@ -52,7 +55,7 @@ class FollowObject:
self.left_dist = robot.left_distance.distance self.left_dist = robot.left_distance.distance
# calculate time delta # calculate time delta
new_time = time.monotonic_ns() new_time = time.monotonic()
time_delta = new_time - self.last_time time_delta = new_time - self.last_time
self.last_time = new_time self.last_time = new_time
@ -69,7 +72,6 @@ class FollowObject:
def main_loop(self): def main_loop(self):
robot.left_distance.start_ranging() robot.left_distance.start_ranging()
self.last_time = time.monotonic()
while True: while True:
try: try:
self.movement_update() self.movement_update()
@ -94,4 +96,5 @@ class FollowObject:
robot.left_distance.clear_interrupt() robot.left_distance.clear_interrupt()
robot.left_distance.stop_ranging() robot.left_distance.stop_ranging()
FollowObject().start() FollowObject().start()

6
ch-10/2-graphing/pio_encoder.py
View File

@ -54,6 +54,7 @@ send:
assembled = adafruit_pioasm.assemble(program) assembled = adafruit_pioasm.assemble(program)
class QuadratureEncoder: class QuadratureEncoder:
def __init__(self, first_pin, second_pin, reversed=False): def __init__(self, first_pin, second_pin, reversed=False):
"""Encoder with 2 pins. Must use sequential pins on the board""" """Encoder with 2 pins. Must use sequential pins on the board"""
@ -62,10 +63,10 @@ class QuadratureEncoder:
frequency=0, frequency=0,
first_in_pin=first_pin, first_in_pin=first_pin,
jmp_pin=second_pin, jmp_pin=second_pin,
in_pin_count=2 in_pin_count=2,
) )
self.reversed = reversed self.reversed = reversed
self._buffer = array.array('i', [0]) self._buffer = array.array("i", [0])
def read(self): def read(self):
while self.sm.in_waiting: while self.sm.in_waiting:
@ -74,4 +75,3 @@ class QuadratureEncoder:
return -self._buffer[0] return -self._buffer[0]
else: else:
return self._buffer[0] return self._buffer[0]

6
ch-10/2-graphing/robot.py
View File

@ -29,6 +29,7 @@ def stop():
motor_B1.duty_cycle = 0 motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0 motor_B2.duty_cycle = 0
def set_speed(motor, speed): def set_speed(motor, speed):
# Swap motor pins if we reverse the speed # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
@ -37,14 +38,15 @@ def set_speed(motor, speed):
else: else:
direction = motor direction = motor
speed = min(speed, 1) # limit to 1.0 speed = min(speed, 1) # limit to 1.0
max_speed = 2**16-1 max_speed = 2 ** 16 - 1
direction[0].duty_cycle = int(max_speed * speed) direction[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)

6
ch-10/3-wall-follow/pio_encoder.py
View File

@ -54,6 +54,7 @@ send:
assembled = adafruit_pioasm.assemble(program) assembled = adafruit_pioasm.assemble(program)
class QuadratureEncoder: class QuadratureEncoder:
def __init__(self, first_pin, second_pin, reversed=False): def __init__(self, first_pin, second_pin, reversed=False):
"""Encoder with 2 pins. Must use sequential pins on the board""" """Encoder with 2 pins. Must use sequential pins on the board"""
@ -62,10 +63,10 @@ class QuadratureEncoder:
frequency=0, frequency=0,
first_in_pin=first_pin, first_in_pin=first_pin,
jmp_pin=second_pin, jmp_pin=second_pin,
in_pin_count=2 in_pin_count=2,
) )
self.reversed = reversed self.reversed = reversed
self._buffer = array.array('i', [0]) self._buffer = array.array("i", [0])
def read(self): def read(self):
while self.sm.in_waiting: while self.sm.in_waiting:
@ -74,4 +75,3 @@ class QuadratureEncoder:
return -self._buffer[0] return -self._buffer[0]
else: else:
return self._buffer[0] return self._buffer[0]

6
ch-10/3-wall-follow/robot.py
View File

@ -29,6 +29,7 @@ def stop():
motor_B1.duty_cycle = 0 motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0 motor_B2.duty_cycle = 0
def set_speed(motor, speed): def set_speed(motor, speed):
# Swap motor pins if we reverse the speed # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
@ -37,14 +38,15 @@ def set_speed(motor, speed):
else: else:
direction = motor direction = motor
speed = min(speed, 1) # limit to 1.0 speed = min(speed, 1) # limit to 1.0
max_speed = 2**16-1 max_speed = 2 ** 16 - 1
direction[0].duty_cycle = int(max_speed * speed) direction[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)

23
ch-10/3-wall-follow/wall_follow.py
View File

@ -20,7 +20,7 @@ class FollowWallApp:
self.wifi = None self.wifi = None
self.server = None self.server = None
self.last_time = time.monotonic_ns() self.last_time = time.monotonic()
self.left_dist = 0 self.left_dist = 0
self.pid_output = 0 self.pid_output = 0
@ -30,10 +30,7 @@ class FollowWallApp:
def setup_wifi(self, app): def setup_wifi(self, app):
print("Setting up wifi.") print("Setting up wifi.")
self.wifi, esp = robot_wifi.connect_to_wifi() self.wifi, esp = robot_wifi.connect_to_wifi()
self.server = adafruit_esp32spi_wsgiserver.WSGIServer( self.server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
80,
application=app
)
adafruit_esp32spi_wsgiserver.set_interface(esp) adafruit_esp32spi_wsgiserver.set_interface(esp)
print("Starting server") print("Starting server")
@ -42,13 +39,19 @@ class FollowWallApp:
print(f"IP Address is {ip_int}") print(f"IP Address is {ip_int}")
def index(self, request): def index(self, request):
return 200, [('Content-Type', 'application/json')], [json.dumps( return (
200,
[("Content-Type", "application/json")],
[
json.dumps(
{ {
"last_value": self.follow_pid.last_value, "last_value": self.follow_pid.last_value,
"pid_output": self.pid_output, "pid_output": self.pid_output,
"time": self.last_time "time": self.last_time,
} }
)] )
],
)
def movement_update(self): def movement_update(self):
# do we have data # do we have data
@ -56,7 +59,7 @@ class FollowWallApp:
self.left_dist = robot.left_distance.distance self.left_dist = robot.left_distance.distance
# calculate time delta # calculate time delta
new_time = time.monotonic_ns() new_time = time.monotonic()
time_delta = new_time - self.last_time time_delta = new_time - self.last_time
self.last_time = new_time self.last_time = new_time
@ -73,7 +76,6 @@ class FollowWallApp:
def main_loop(self): def main_loop(self):
robot.left_distance.start_ranging() robot.left_distance.start_ranging()
self.last_time = time.monotonic()
while True: while True:
try: try:
self.movement_update() self.movement_update()
@ -98,4 +100,5 @@ class FollowWallApp:
robot.left_distance.clear_interrupt() robot.left_distance.clear_interrupt()
robot.left_distance.stop_ranging() robot.left_distance.stop_ranging()
FollowWallApp().start() FollowWallApp().start()