ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Fixed this -we now do not have the glitches

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Danny Staple
2022-08-13 08:50:09 +01:00
parent ad3f30b559
commit c986d25bf5
3 changed files with 24 additions and 12 deletions
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ch-11/1-measuring_wheel_speeds/code.py
+6 -3
View File
@@ -28,7 +28,7 @@ async def command_handler():
if uart.in_waiting: if uart.in_waiting:
command = uart.readline().decode().strip() command = uart.readline().decode().strip()
if command.startswith("M"): if command.startswith("M"):
speed = float(command[1:]) Settings.speed = float(command[1:])
elif command.startswith("T"): elif command.startswith("T"):
Settings.time_interval = float(command[1:]) Settings.time_interval = float(command[1:])
elif command == "O": elif command == "O":
@@ -43,5 +43,8 @@ async def command_handler():
await asyncio.sleep(3) await asyncio.sleep(3)
await asyncio.sleep(0) await asyncio.sleep(0)
asyncio.create_task(motor_speed_loop()) try:
asyncio.run(command_handler()) asyncio.create_task(motor_speed_loop())
asyncio.run(command_handler())
finally:
robot.stop()
ch-11/1-measuring_wheel_speeds/pio_encoder.py
+9 -2
View File
@@ -1,6 +1,8 @@
import rp2pio import rp2pio
import adafruit_pioasm import adafruit_pioasm
import array import array
import asyncio
program = """ program = """
; use the osr for count ; use the osr for count
@@ -67,10 +69,15 @@ class QuadratureEncoder:
) )
self.reversed = reversed self.reversed = reversed
self._buffer = array.array("i", [0]) 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): def read(self):
while self.sm.in_waiting:
self.sm.readinto(self._buffer)
if self.reversed: if self.reversed:
return -self._buffer[0] return -self._buffer[0]
else: else:
ch-11/1-measuring_wheel_speeds/robot.py
+9 -7
View File
@@ -7,22 +7,24 @@ import math
wheel_diameter_mm = 70 wheel_diameter_mm = 70
wheel_circumference_mm = math.pi * wheel_diameter_mm wheel_circumference_mm = math.pi * wheel_diameter_mm
ticks_per_revolution = 2800 gear_ratio = 298
encoder_poles = 28
ticks_per_revolution = encoder_poles * gear_ratio
ticks_to_mm_const = wheel_circumference_mm / ticks_per_revolution ticks_to_mm_const = wheel_circumference_mm / ticks_per_revolution
def ticks_to_mm(ticks): def ticks_to_mm(ticks):
return ticks_to_mm_const * ticks return ticks_to_mm_const * ticks
motor_A1 = pwmio.PWMOut(board.GP17, frequency=100) motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
motor_A2 = pwmio.PWMOut(board.GP16, frequency=100) motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
motor_B1 = pwmio.PWMOut(board.GP18, frequency=100) motor_B2 = pwmio.PWMOut(board.GP18, frequency=100)
motor_B2 = pwmio.PWMOut(board.GP19, frequency=100) motor_B1 = pwmio.PWMOut(board.GP19, frequency=100)
right_motor = motor_A1, motor_A2 right_motor = motor_A1, motor_A2
left_motor = motor_B1, motor_B2 left_motor = motor_B1, motor_B2
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True) right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27) left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27, reversed=True)
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1) i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3) i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)