We now have the distance sensor full code working
This commit is contained in:
Danny Staple
parent
6ebb615044
commit
d168b2664d
@ -17,7 +17,6 @@ ticks_to_mm = wheel_circumference_mm / ticks_per_revolution
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ticks_to_m = ticks_to_mm / 1000
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m_to_ticks = 1 / ticks_to_m
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wheelbase_mm = 170
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distance_sensor_from_middle = 40 # approx mm
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motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
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motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
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@ -17,7 +17,6 @@ ticks_to_mm = wheel_circumference_mm / ticks_per_revolution
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ticks_to_m = ticks_to_mm / 1000
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m_to_ticks = 1 / ticks_to_m
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wheelbase_mm = 170
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distance_sensor_from_middle = 40 # approx mm
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motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
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motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
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@ -17,7 +17,6 @@ ticks_to_mm = wheel_circumference_mm / ticks_per_revolution
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ticks_to_m = ticks_to_mm / 1000
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m_to_ticks = 1 / ticks_to_m
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wheelbase_mm = 170
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distance_sensor_from_middle = 40 # approx mm
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motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
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motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
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344
ch-13/4.2-distance-sensors/analyse_output.ipynb
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344
ch-13/4.2-distance-sensors/analyse_output.ipynb
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File diff suppressed because one or more lines are too long
@ -10,20 +10,19 @@ from robot_ble_connection import BleConnection
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class RobotDisplay:
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def __init__(self):
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self.ble_connection = BleConnection(self.handle_data)
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self.line = ""
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self.buffer = ""
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self.arena = {}
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self.display_closed = False
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self.closed = False
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self.fig, self.ax = plt.subplots()
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self.pose_coords = []
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self.pose_uv = []
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self.poses = None
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def handle_close(self, _):
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self.display_closed = True
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self.closed = True
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def handle_data(self, data):
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self.line += data.decode("utf-8")
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while "\n" in self.line:
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line, self.line = self.line.split("\n", 1)
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self.buffer += data.decode("utf-8")
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while "\n" in self.buffer:
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line, self.buffer = self.buffer.split("\n", 1)
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print(f"Received data: {line}")
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try:
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message = json.loads(line)
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@ -33,12 +32,7 @@ class RobotDisplay:
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if "arena" in message:
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self.arena = message
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if "poses" in message:
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# the robot poses are an array of [x, y, theta] arrays.
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# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
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poses = np.array(message["poses"]).T
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self.pose_coords = poses[:2]
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angle_rads = np.deg2rad(poses[2])
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self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
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self.poses = np.array(message["poses"], dtype=np.int16)
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def draw(self):
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self.ax.clear()
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@ -47,24 +41,17 @@ class RobotDisplay:
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self.ax.plot(
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[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
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)
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for line in self.arena["target_zone"]:
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self.ax.plot(
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[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
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)
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if len(self.pose_coords) > 0:
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self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
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if self.poses is not None:
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self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
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async def send_command(self, command):
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request = json.dumps({"command": command}).encode()
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request = (json.dumps({"command": command}) ).encode()
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print(f"Sending request: {request}")
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await self.ble_connection.send_uart_data(request)
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def start(self, _):
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self.button_task = asyncio.create_task(self.send_command("start"))
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def stop(self, _):
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self.button_task = asyncio.create_task(self.send_command("stop"))
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async def main(self):
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plt.ion()
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await self.ble_connection.connect()
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@ -73,10 +60,7 @@ class RobotDisplay:
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self.fig.canvas.mpl_connect("close_event", self.handle_close)
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start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
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start_button.on_clicked(self.start)
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stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
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stop_button.on_clicked(self.stop)
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while not self.display_closed:
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while not self.closed:
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self.draw()
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plt.draw()
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plt.pause(0.05)
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2572
ch-13/4.2-distance-sensors/poetry.lock
generated
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2572
ch-13/4.2-distance-sensors/poetry.lock
generated
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File diff suppressed because it is too large
Load Diff
@ -11,6 +11,7 @@ python = "^3.9"
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matplotlib = "3.6.1"
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numpy = "1.23.4"
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bleak = "0.19.0"
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jupyter = "^1.0.0"
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[tool.poetry.group.dev.dependencies]
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97
ch-13/4.2-distance-sensors/robot/arena.py
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97
ch-13/4.2-distance-sensors/robot/arena.py
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@ -0,0 +1,97 @@
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"""Represent the lines of the arena"""
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try:
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from ulab import numpy as np
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except ImportError:
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import numpy as np
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boundary_lines = [
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[(0,0), (0, 1500)],
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[(0, 1500), (1500, 1500)],
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[(1500, 1500), (1500, 500)],
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[(1500, 500), (1000, 500)],
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[(1000, 500), (1000, 0)],
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[(1000, 0), (0, 0)],
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]
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width = 1500
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height = 1500
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def contains(x, y):
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"""Return True if the point is inside the arena.
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if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
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"""
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# is it inside the rectangle?
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if x < 0 or x > width \
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or y < 0 or y > height:
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return False
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# is it inside the cutout?
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if x > 1000 and y < 500:
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return False
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return True
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grid_cell_size = 50
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overscan = 10 # 10 each way
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def get_distance_to_segment(x, y, segment):
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"""Return the distance from the point to the segment.
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Segment -> ((x1, y1), (x2, y2))
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All segments are horizontal or vertical.
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"""
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x1, y1 = segment[0]
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x2, y2 = segment[1]
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# if the segment is horizontal, the point will be closest to the y value of the segment
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if y1 == y2 and x >= min(x1, x2) and x <= max(x1, x2):
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return abs(y - y1)
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# if the segment is vertical, the point will be closest to the x value of the segment
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if x1 == x2 and y >= min(y1, y2) and y <= max(y1, y2):
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return abs(x - x1)
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# the point will be closest to one of the end points
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return np.sqrt(
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min(
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(x - x1) ** 2 + (y - y1) ** 2,
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(x - x2) ** 2 + (y - y2) ** 2
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)
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)
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def get_distance_likelihood(x, y):
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"""Return the distance from the point to the nearest segment as a decay function."""
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min_distance = None
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for segment in boundary_lines:
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distance = get_distance_to_segment(x, y, segment)
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if min_distance is None or distance < min_distance:
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min_distance = distance
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return 1.0 / (1 + min_distance/250) ** 2
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grid_cell_size = 50
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overscan = 10 # 10 each way
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# beam endpoint model
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def make_distance_grid():
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"""Take the boundary lines. With and overscan of 10 cells, and grid cell size of 5cm (50mm),
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make a grid of the distance to the nearest boundary line.
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"""
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grid = np.zeros((
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width // grid_cell_size + 2 * overscan,
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height // grid_cell_size + 2 * overscan
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), dtype=np.float)
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for x in range(grid.shape[0]):
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column_x = x * grid_cell_size - (overscan * grid_cell_size)
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for y in range(grid.shape[1]):
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row_y = y * grid_cell_size - (overscan * grid_cell_size)
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grid[x, y] = get_distance_likelihood(
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column_x, row_y
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)
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return grid
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distance_grid = make_distance_grid()
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def get_distance_grid_at_point(x, y):
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"""Return the distance grid value at the given point."""
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grid_x = int(x // grid_cell_size + overscan)
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grid_y = int(y // grid_cell_size + overscan)
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if grid_x < 0 or grid_x >= distance_grid.shape[0] or grid_y < 0 or grid_y >= distance_grid.shape[1]:
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return 0
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return distance_grid[grid_x, grid_y]
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240
ch-13/4.2-distance-sensors/robot/code.py
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240
ch-13/4.2-distance-sensors/robot/code.py
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@ -0,0 +1,240 @@
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import asyncio
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import json
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import random
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from ulab import numpy as np
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import arena
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import robot
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class DistanceSensorTracker:
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def __init__(self):
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robot.left_distance.distance_mode = 2
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robot.right_distance.distance_mode = 2
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robot.left_distance.timing_budget = 50
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robot.right_distance.timing_budget = 50
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self.left = 300
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self.right = 300
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async def main(self):
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robot.left_distance.start_ranging()
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robot.right_distance.start_ranging()
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while True:
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if robot.left_distance.data_ready and robot.left_distance.distance:
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self.left = robot.left_distance.distance * 10 # convert to mm
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robot.left_distance.clear_interrupt()
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if robot.right_distance.data_ready and robot.right_distance.distance:
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self.right = robot.right_distance.distance * 10
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robot.right_distance.clear_interrupt()
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await asyncio.sleep(0.01)
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class CollisionAvoid:
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def __init__(self, distance_sensors):
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self.speed = 0.6
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self.distance_sensors = distance_sensors
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async def main(self):
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while True:
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robot.set_right(self.speed)
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while self.distance_sensors.left < 300 or \
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self.distance_sensors.right < 300:
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robot.set_left(-self.speed)
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await asyncio.sleep(0.3)
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robot.set_left(self.speed)
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await asyncio.sleep(0)
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def get_scaled_sample_around_mean(mean, scale):
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return mean + (random.uniform(-scale, scale) + random.uniform(-scale, scale)) / 2
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def send_json(data):
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robot.uart.write((json.dumps(data) + "\n").encode())
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def read_json():
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try:
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data = robot.uart.readline()
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decoded = data.decode()
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return json.loads(decoded)
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except (UnicodeError, ValueError):
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print("Invalid data")
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return None
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def send_poses(samples):
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send_json({
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"poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
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})
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class Simulation:
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def __init__(self):
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self.population_size = 200
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self.poses = np.array(
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[(
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int(random.uniform(0, arena.width)),
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int(random.uniform(0, arena.height)),
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int(random.uniform(0, 360))) for _ in range(self.population_size)],
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dtype=np.float,
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)
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self.distance_sensors = DistanceSensorTracker()
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self.collision_avoider = CollisionAvoid(self.distance_sensors)
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self.last_encoder_left = robot.left_encoder.read()
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self.last_encoder_right = robot.right_encoder.read()
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self.alpha_rot = 0.05
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self.alpha_rot_trans = 0.01
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self.alpha_trans = 0.05
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self.alpha_trans_rot = 0.01
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def resample(self, weights, sample_count):
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"""Return sample_count number of samples from the
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poses, based on the weights array.
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Uses low variance resampling"""
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samples = np.zeros((sample_count, 3))
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interval = 1 / sample_count
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shift = random.uniform(0, interval)
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cumulative_weights = weights[0]
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source_index = 0
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for current_index in range(sample_count):
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weight_index = shift + current_index * interval
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while weight_index > cumulative_weights:
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source_index += 1
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cumulative_weights += weights[source_index]
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samples[current_index] = self.poses[source_index]
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return samples
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def convert_odometry_to_motion(self, left_encoder_delta, right_encoder_delta):
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"""
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left_encoder is the change in the left encoder
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right_encoder is the change in the right encoder
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returns rot1, trans, rot2
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rot1 is the rotation of the robot in degrees before the translation
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trans is the distance the robot has moved in mm
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rot2 is the rotation of the robot in degrees
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"""
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left_mm = left_encoder_delta * robot.ticks_to_mm
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right_mm = right_encoder_delta * robot.ticks_to_mm
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if left_mm == right_mm:
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return 0, left_mm, 0
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# calculate the radius of the arc
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radius = (robot.wheelbase_mm / 2) * (left_mm + right_mm) / (right_mm - left_mm)
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## angle = difference in steps / wheelbase
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d_theta = (right_mm - left_mm) / robot.wheelbase_mm
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# For a small enough motion, assume that the chord length = arc length
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arc_length = d_theta * radius
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rot1 = np.degrees(d_theta/2)
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rot2 = rot1
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return rot1, arc_length, rot2
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def apply_motion_to_poses(self, rot1, trans, rot2):
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self.poses[:,2] += rot1
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rot1_radians = np.radians(self.poses[:,2])
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self.poses[:,0] += trans * np.cos(rot1_radians)
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self.poses[:,1] += trans * np.sin(rot1_radians)
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self.poses[:,2] += rot2
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self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
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def apply_randomness_to_motion(self, rot1, trans, rot2):
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rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans)
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trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2))
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rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans)
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rot1_model = np.array([get_scaled_sample_around_mean(rot1, rot1_scale) for _ in range(self.poses.shape[0])])
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trans_model = np.array([get_scaled_sample_around_mean(trans, trans_scale) for _ in range(self.poses.shape[0])])
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rot2_model = np.array([get_scaled_sample_around_mean(rot2, rot2_scale) for _ in range(self.poses.shape[0])])
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return rot1_model, trans_model, rot2_model
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def motion_model(self):
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"""Apply the motion model"""
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new_encoder_left = robot.left_encoder.read()
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new_encoder_right = robot.right_encoder.read()
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rot1, trans, rot2 = self.convert_odometry_to_motion(
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new_encoder_left - self.last_encoder_left,
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new_encoder_right - self.last_encoder_right)
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self.last_encoder_left = new_encoder_left
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self.last_encoder_right = new_encoder_right
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rot1_model, trans_model, rot2_model = self.apply_randomness_to_motion(rot1, trans, rot2)
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self.apply_motion_to_poses(rot1_model, trans_model, rot2_model)
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print(
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json.dumps(
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[self.poses.tolist(), rot1, trans, rot2]
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)
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)
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def observe_distance_sensors(self, weights):
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# modify the current weights based on the distance sensors
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distance_sensor_left = np.zeros(
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(self.poses.shape[0], 2), dtype=np.float)
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distance_sensor_right = np.zeros(
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(self.poses.shape[0], 2), dtype=np.float)
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# left sensor
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poses_left_90 = np.radians(self.poses[:, 2] + 90)
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distance_sensor_left[:, 0] = self.poses[:, 0] + np.cos(poses_left_90) * robot.distance_sensor_side_mm
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distance_sensor_left[:, 1] = self.poses[:, 1] + np.sin(poses_left_90) * robot.distance_sensor_side_mm
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distance_sensor_left[:, 0] += np.cos(self.poses[:, 2]) * (self.distance_sensors.left + robot.distance_sensor_forward_mm)
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distance_sensor_left[:, 1] += np.sin(self.poses[:, 2]) * (self.distance_sensors.left + robot.distance_sensor_forward_mm)
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# right sensor
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poses_right_90 = np.radians(self.poses[:, 2] - 90)
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distance_sensor_right[:, 0] = self.poses[:, 0] + np.cos(poses_right_90) * robot.distance_sensor_side_mm
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distance_sensor_right[:, 1] = self.poses[:, 1] + np.sin(poses_right_90) * robot.distance_sensor_side_mm
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distance_sensor_right[:, 0] += np.cos(self.poses[:, 2]) * (self.distance_sensors.right + robot.distance_sensor_forward_mm)
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distance_sensor_right[:, 1] += np.sin(self.poses[:, 2]) * (self.distance_sensors.right + robot.distance_sensor_forward_mm)
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# Look up the distance in the arena
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for index in range(self.poses.shape[0]):
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sensor_weight = arena.get_distance_grid_at_point(distance_sensor_left[index,0], distance_sensor_left[index,1])
|
||||
sensor_weight += arena.get_distance_grid_at_point(distance_sensor_right[index,0], distance_sensor_right[index,1])
|
||||
weights[index] *= sensor_weight
|
||||
return weights
|
||||
|
||||
|
||||
def observation_model(self):
|
||||
weights = np.ones(self.poses.shape[0], dtype=np.float)
|
||||
for index, pose in enumerate(self.poses):
|
||||
if not arena.contains(pose[:1], pose[:2]):
|
||||
weights[index] = 0.01
|
||||
weights = self.observe_distance_sensors(weights)
|
||||
weights = weights / np.sum(weights)
|
||||
return weights
|
||||
|
||||
async def main(self):
|
||||
asyncio.create_task(self.distance_sensors.main())
|
||||
collision_avoider = asyncio.create_task(self.collision_avoider.main())
|
||||
try:
|
||||
while True:
|
||||
weights = self.observation_model()
|
||||
print("Weights: ", weights)
|
||||
send_poses(self.resample(weights, 20))
|
||||
self.poses = self.resample(weights, self.population_size)
|
||||
await asyncio.sleep(0.05)
|
||||
self.motion_model()
|
||||
finally:
|
||||
collision_avoider.cancel()
|
||||
robot.stop()
|
||||
|
||||
|
||||
async def command_handler(simulation):
|
||||
print("Starting handler")
|
||||
simulation_task = None
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
request = read_json()
|
||||
if not request:
|
||||
continue
|
||||
print("Received: ", request)
|
||||
if request["command"] == "arena":
|
||||
send_json({
|
||||
"arena": arena.boundary_lines,
|
||||
})
|
||||
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))
|
||||
@ -4,19 +4,21 @@ 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_diameter_mm = 69.5
|
||||
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
|
||||
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_side_mm = 37 # approx mm
|
||||
distance_sensor_forward_mm = 66 # approx mm
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
@ -35,10 +37,7 @@ 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
|
||||
@ -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())
|
||||
789
ch-13/5-eliminating-poses/computer/poetry.lock
generated
789
ch-13/5-eliminating-poses/computer/poetry.lock
generated
@ -1,789 +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 = "22.10.0"
|
||||
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 = "1.64.0"
|
||||
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 = "21.3"
|
||||
description = "Core utilities for Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
|
||||
|
||||
[[package]]
|
||||
name = "pathspec"
|
||||
version = "0.10.1"
|
||||
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 = "2.5.2"
|
||||
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
|
||||
test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
|
||||
|
||||
[[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 = "65.5.0"
|
||||
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)", "mock", "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-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 = "7.0.5"
|
||||
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 = ">=1.0.0"
|
||||
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"
|
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{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"},
|
||||
]
|
||||
pyparsing = [
|
||||
{file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
|
||||
{file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
|
||||
]
|
||||
python-dateutil = [
|
||||
{file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
|
||||
{file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
|
||||
]
|
||||
setuptools = [
|
||||
{file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
|
||||
{file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
|
||||
]
|
||||
setuptools-scm = [
|
||||
{file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
|
||||
{file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
|
||||
]
|
||||
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"
|
||||
@ -1,46 +0,0 @@
|
||||
"""Represent the lines and target zone of the arena"""
|
||||
|
||||
|
||||
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)],
|
||||
]
|
||||
|
||||
|
||||
target_zone = [
|
||||
[(1100, 900), (1100, 1100)],
|
||||
[(1100, 1100), (1250, 1100)],
|
||||
[(1250, 1100), (1250, 900)],
|
||||
[(1250, 900), (1100, 900)],
|
||||
]
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
|
||||
def point_is_inside_arena(point):
|
||||
"""Return True if the point is inside the arena"""
|
||||
# cheat a little, the arena is a rectangle, with a cutout.
|
||||
# if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
|
||||
# this is far simpler than any line intersection method.
|
||||
|
||||
# is it inside the rectangle?
|
||||
if point[0] < 0 or point[0] > width \
|
||||
or point[1] < 0 or point[1] > height:
|
||||
return False
|
||||
# is it inside the cutout?
|
||||
if point[0] > 1000 and point[1] < 500:
|
||||
return False
|
||||
return True
|
||||
|
||||
def point_is_inside_target_zone(point):
|
||||
"""Return True if the point is inside the target zone"""
|
||||
# cheat a little, the target zone is a rectangle.
|
||||
# if the point is inside the rectangle, it's inside the target zone.
|
||||
if point[0] < 1100 or point[0] > 1250 \
|
||||
or point[1] < 900 or point[1] > 1100:
|
||||
return False
|
||||
return True
|
||||
@ -1,112 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import random
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
population_size = 10
|
||||
# x, y, heading
|
||||
self.poses = np.empty((population_size, 3), dtype=np.float)
|
||||
for n in range(population_size):
|
||||
self.poses[n] = random.uniform(0, arena.width), random.uniform(0, arena.height), random.uniform(0, 360)
|
||||
|
||||
def move_poses(self, speed_in_mm, heading_change):
|
||||
for pose in self.poses:
|
||||
pose[2] += heading_change
|
||||
pose[2] = pose[2] % 360
|
||||
pose[0] += speed_in_mm * np.cos(np.radians(pose[2]))
|
||||
pose[1] += speed_in_mm * np.sin(np.radians(pose[2]))
|
||||
|
||||
def eliminate_impossible_poses(self, left_distance, right_distance):
|
||||
poses_to_keep = np.ones(len(self.poses), dtype=np.uint8)
|
||||
# todo: would reorganising these pose arrays let us better use ulab tools?
|
||||
for position, pose in enumerate(self.poses):
|
||||
# first those outside the arena
|
||||
keep = arena.point_is_inside_arena((pose[0], pose[1]))
|
||||
if keep:
|
||||
left_distance_origin = pose[0] + robot.distance_sensor_from_middle * np.cos(np.radians(pose[2] + 90)), pose[1] + robot.distance_sensor_from_middle * np.sin(np.radians(pose[2] + 90))
|
||||
right_distance_origin = pose[0] + robot.distance_sensor_from_middle * np.cos(np.radians(pose[2] - 90)), pose[1] + robot.distance_sensor_from_middle * np.sin(np.radians(pose[2] - 90))
|
||||
left_distance_end = left_distance_origin[0] + left_distance * np.cos(np.radians(pose[2])), left_distance_origin[1] + left_distance * np.sin(np.radians(pose[2]))
|
||||
right_distance_end = right_distance_origin[0] + right_distance * np.cos(np.radians(pose[2])), right_distance_origin[1] + right_distance * np.sin(np.radians(pose[2]))
|
||||
keep = arena.point_is_inside_arena(left_distance_end) and arena.point_is_inside_arena(right_distance_end)
|
||||
poses_to_keep[position] = int(keep)
|
||||
# apply the keep as a mask to the poses using ulab. - doesn't work in ulab.
|
||||
self.poses = np.array([item for item, keep in zip(self.poses, poses_to_keep) if keep])
|
||||
|
||||
async def run(self):
|
||||
try:
|
||||
robot.left_distance.start_ranging()
|
||||
robot.right_distance.start_ranging()
|
||||
for _ in range(5):
|
||||
starting_heading = robot.imu.euler[0]
|
||||
encoder_left = robot.left_encoder.read()
|
||||
encoder_right = robot.right_encoder.read()
|
||||
robot.set_left(1)
|
||||
robot.set_right(0.5)
|
||||
await asyncio.sleep(0.1)
|
||||
left_movement = robot.left_encoder.read() - encoder_left
|
||||
right_movement = robot.right_encoder.read() - encoder_right
|
||||
# move poses
|
||||
speed_in_mm = robot.ticks_to_m * ((left_movement + right_movement) / 2) * 1000
|
||||
new_heading = robot.imu.euler[0]
|
||||
heading_change = starting_heading - new_heading
|
||||
self.move_poses(speed_in_mm, heading_change)
|
||||
if robot.left_distance.data_ready and robot.right_distance.data_ready:
|
||||
left_distance = robot.left_distance.distance * 10 # convert to mm
|
||||
right_distance = robot.right_distance.distance * 10
|
||||
self.eliminate_impossible_poses(left_distance, right_distance)
|
||||
robot.left_distance.clear_interrupt()
|
||||
robot.right_distance.clear_interrupt()
|
||||
finally:
|
||||
robot.stop()
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data)+"\n").encode())
|
||||
|
||||
async def command_handler(simulation):
|
||||
simulation_task = None
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
try:
|
||||
data = robot.uart.readline().decode()
|
||||
request = json.loads(data)
|
||||
except (UnicodeError, ValueError):
|
||||
print("Invalid data")
|
||||
continue
|
||||
# {"command": "arena"}
|
||||
if request["command"] == "arena":
|
||||
send_json({
|
||||
"arena": arena.boundary_lines,
|
||||
"target_zone": arena.target_zone,
|
||||
})
|
||||
elif request["command"] == "start":
|
||||
print("Starting simulation")
|
||||
if simulation_task is None or simulation_task.done():
|
||||
simulation_task = asyncio.create_task(simulation.run())
|
||||
elif request["command"] == "stop":
|
||||
robot.stop()
|
||||
if simulation_task and not simulation_task.done():
|
||||
simulation_task.cancel()
|
||||
simulation_task = None
|
||||
else:
|
||||
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,
|
||||
}})
|
||||
else:
|
||||
send_json({
|
||||
"poses": simulation.poses.tolist(),
|
||||
})
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
simulation= Simulation()
|
||||
asyncio.run(command_handler(simulation))
|
||||
@ -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
|
||||
@ -1,90 +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.line = ""
|
||||
self.arena = {}
|
||||
self.display_closed = False
|
||||
self.fig, self.ax = plt.subplots()
|
||||
self.pose_coords = []
|
||||
self.pose_uv = []
|
||||
|
||||
def handle_close(self, _):
|
||||
self.display_closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.line += data.decode("utf-8")
|
||||
while "\n" in self.line:
|
||||
line, self.line = self.line.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:
|
||||
# the robot poses are an array of [x, y, theta] arrays.
|
||||
# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
|
||||
poses = np.array(message["poses"]).T
|
||||
self.pose_coords = poses[:2]
|
||||
angle_rads = np.deg2rad(poses[2])
|
||||
self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
|
||||
|
||||
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"
|
||||
)
|
||||
for line in self.arena["target_zone"]:
|
||||
self.ax.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
|
||||
)
|
||||
if len(self.pose_coords) > 0:
|
||||
self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
|
||||
|
||||
async def send_command(self, command):
|
||||
#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
|
||||
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.display_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())
|
||||
789
ch-13/7-regenerating-full-numpy/computer/poetry.lock
generated
789
ch-13/7-regenerating-full-numpy/computer/poetry.lock
generated
@ -1,789 +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 = "22.10.0"
|
||||
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 = "1.64.0"
|
||||
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 = "21.3"
|
||||
description = "Core utilities for Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
|
||||
|
||||
[[package]]
|
||||
name = "pathspec"
|
||||
version = "0.10.1"
|
||||
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 = "2.5.2"
|
||||
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
|
||||
test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
|
||||
|
||||
[[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 = "65.5.0"
|
||||
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)", "mock", "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-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 = "7.0.5"
|
||||
description = "the blessed package to manage your versions by scm tags"
|
||||
category = "main"
|
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{file = "platformdirs-2.5.2.tar.gz", hash = "sha256:58c8abb07dcb441e6ee4b11d8df0ac856038f944ab98b7be6b27b2a3c7feef19"},
|
||||
]
|
||||
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"},
|
||||
]
|
||||
pyparsing = [
|
||||
{file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
|
||||
{file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
|
||||
]
|
||||
python-dateutil = [
|
||||
{file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
|
||||
{file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
|
||||
]
|
||||
setuptools = [
|
||||
{file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
|
||||
{file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
|
||||
]
|
||||
setuptools-scm = [
|
||||
{file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
|
||||
{file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
|
||||
]
|
||||
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"
|
||||
@ -1,3 +0,0 @@
|
||||
matplotlib==3.6.1
|
||||
numpy==1.23.4
|
||||
bleak==0.19.0
|
||||
@ -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)
|
||||
@ -1,65 +0,0 @@
|
||||
"""Represent the lines and target zone of the arena"""
|
||||
import math
|
||||
|
||||
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)],
|
||||
]
|
||||
|
||||
|
||||
target_zone = [
|
||||
[(1100, 900), (1100, 1100)],
|
||||
[(1100, 1100), (1250, 1100)],
|
||||
[(1250, 1100), (1250, 900)],
|
||||
[(1250, 900), (1100, 900)],
|
||||
]
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
|
||||
def point_is_inside_arena(x, y):
|
||||
"""Return True if the point is inside the arena"""
|
||||
# cheat a little, the arena is a rectangle, with a cutout.
|
||||
# if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
|
||||
# this is far simpler than any line intersection method.
|
||||
|
||||
# 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 point_is_inside_target_zone(point):
|
||||
"""Return True if the point is inside the target zone"""
|
||||
# cheat a little, the target zone is a rectangle.
|
||||
# if the point is inside the rectangle, it's inside the target zone.
|
||||
if point[0] < 1100 or point[0] > 1250 \
|
||||
or point[1] < 900 or point[1] > 1100:
|
||||
return False
|
||||
return True
|
||||
|
||||
def distance_from_line_segment(line_segment, point_x, point_y):
|
||||
"""Return the distance from the point to the line segment"""
|
||||
# get the line as a, b, c where ax + by + c = 0
|
||||
line_x1, line_y1 = line_segment[0]
|
||||
line_x2, line_y2 = line_segment[1]
|
||||
a = line_y1 - line_y2
|
||||
b = line_x2 - line_x1
|
||||
c = line_x1 * line_y2 - line_x2 * line_y1
|
||||
# calculate the distance
|
||||
return abs(a * point_x + b * point_y + c) / math.sqrt(a * a + b * b)
|
||||
|
||||
|
||||
def point_near_boundaries(point_x, point_y, distance):
|
||||
"""Return True if the point is close enough to the boundary lines"""
|
||||
for line_segment in boundary_lines:
|
||||
if distance_from_line_segment(line_segment, point_x, point_y) < distance:
|
||||
return True
|
||||
return False
|
||||
@ -1,266 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
from guassian import get_gaussian_sample
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 50
|
||||
self.left_distance = 100
|
||||
self.right_distance = 100
|
||||
|
||||
# poses can be a list of x[pop size], y[pop size], heading[pop size]
|
||||
# while less "pythonic" it is more "numpyish"
|
||||
self.poses = np.empty((3, 0), dtype=np.float)
|
||||
self.regenerate_poses()
|
||||
|
||||
def regenerate_poses(self):
|
||||
# determine the number
|
||||
number_to_make = self.population_size - len(self.poses[0])
|
||||
new_poses = np.empty((3, number_to_make), dtype=np.float)
|
||||
# determine the mean and std for new poses
|
||||
if len(self.poses[0]) > 0:
|
||||
mean = np.mean(self.poses, 0)
|
||||
std = np.std(self.poses, 0)
|
||||
else:
|
||||
mean = np.array((arena.width / 2, arena.height / 2, 180))
|
||||
std = np.array((arena.width / 4, arena.height / 4, 180))
|
||||
print("mean.shape :", mean.shape)
|
||||
print("std.shape :", std.shape)
|
||||
|
||||
# generate new poses
|
||||
print(f"Generating {number_to_make} new poses.")
|
||||
for n in range(number_to_make):
|
||||
new_poses[0, n] = get_gaussian_sample(mean[0], std[0])
|
||||
new_poses[1, n] = get_gaussian_sample(mean[1], std[1])
|
||||
new_poses[2, n] = get_gaussian_sample(mean[2], std[2])
|
||||
# set poses to concatenation of new poses and remaining poses
|
||||
self.poses = np.concatenate((self.poses, new_poses), axis=1)
|
||||
|
||||
# hmm - cannot expand, or resize np arrays.
|
||||
# maybe we use normal py arrays apart from the mean/std bit?
|
||||
# a real numpy whizz may have a better way.
|
||||
|
||||
async def move_robot(self):
|
||||
starting_heading = robot.imu.euler[0]
|
||||
encoder_left = robot.left_encoder.read()
|
||||
encoder_right = robot.right_encoder.read()
|
||||
robot.set_left(0.8)
|
||||
robot.set_right(0.8)
|
||||
await asyncio.sleep(0.1)
|
||||
# record sensor changes
|
||||
left_movement = robot.left_encoder.read() - encoder_left
|
||||
right_movement = robot.right_encoder.read() - encoder_right
|
||||
speed_in_mm = robot.ticks_to_m * ((left_movement + right_movement) / 2) * 1000
|
||||
new_heading = robot.imu.euler[0]
|
||||
if new_heading:
|
||||
heading_change = starting_heading - new_heading
|
||||
else:
|
||||
print("Failed to get heading")
|
||||
heading_change = 0
|
||||
|
||||
# move poses
|
||||
radians = np.radians(self.poses[2])
|
||||
self.poses[0] += speed_in_mm * np.cos(radians)
|
||||
self.poses[1] += speed_in_mm * np.sin(radians)
|
||||
self.poses[2] += np.full(self.poses[2].shape, heading_change)
|
||||
self.poses[2] = np.vectorize(lambda n: n % 360)(self.poses[2])
|
||||
|
||||
# ```
|
||||
# >>> first = np.array([[1, 2, 3, 4], [5,6,7,8]])
|
||||
# >>> second = np.array([3, 6, 9, 12])
|
||||
# >>> first + second
|
||||
# array([[ 4, 8, 12, 16],
|
||||
# [ 8, 12, 16, 20]])
|
||||
# >>> second = np.array([[3, 6, 9, 12], [1,1,1,1]])
|
||||
# >>> first + second
|
||||
# array([[ 4, 8, 12, 16],
|
||||
# [ 6, 7, 8, 9]])
|
||||
# >>> test=np.arange(10)
|
||||
# >>> test
|
||||
# array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int16)
|
||||
# >>> mask = np.empty(len(test), dtype=np.bool)
|
||||
# >>> mask
|
||||
# array([False, False, False, False, False, False, False, False, False], dtype=bool)
|
||||
# >>> mask[3] = [True]
|
||||
# >>> mask[5] = [True]
|
||||
# >>> mask[6] = [True]
|
||||
# >>> test[mask]
|
||||
# array([4, 6, 7], dtype=int16)
|
||||
# ```
|
||||
|
||||
def eliminate_poses(self, left_distance, right_distance):
|
||||
poses_to_keep = np.empty(len(self.poses[0]), dtype=np.bool)
|
||||
# first eliminate those outside the arena
|
||||
for position, pose in enumerate(self.poses.transpose()):
|
||||
# first those outside the arena
|
||||
poses_to_keep[position] = [arena.point_is_inside_arena(pose[0], pose[1])]
|
||||
# apply the keep as a mask to the poses using ulab.
|
||||
self.poses = np.array(
|
||||
[
|
||||
self.poses[0][poses_to_keep],
|
||||
self.poses[1][poses_to_keep],
|
||||
self.poses[2][poses_to_keep],
|
||||
]
|
||||
)
|
||||
|
||||
# Then deal with sensors
|
||||
# todo: would reorganising these pose arrays let us better use ulab tools?
|
||||
distance_sensors = np.empty((4, len(self.poses[0])), dtype=np.float)
|
||||
# sensors - they are facing forward, either side of the robot. Project them out to the sides
|
||||
distance_sensors[0] = self.poses[
|
||||
0
|
||||
] + robot.distance_sensor_from_middle * np.cos(np.radians(self.poses[2] + 90))
|
||||
distance_sensors[1] = self.poses[
|
||||
1
|
||||
] + robot.distance_sensor_from_middle * np.sin(np.radians(self.poses[2] + 90))
|
||||
# sensor right
|
||||
distance_sensors[2] = self.poses[
|
||||
0
|
||||
] + robot.distance_sensor_from_middle * np.cos(np.radians(self.poses[2] - 90))
|
||||
distance_sensors[3] = self.poses[
|
||||
1
|
||||
] + robot.distance_sensor_from_middle * np.sin(np.radians(self.poses[2] - 90))
|
||||
# now project these sensors forward based on their distance read
|
||||
distance_sensors[0] += np.cos(np.radians(self.poses[2])) * left_distance
|
||||
distance_sensors[1] += np.sin(np.radians(self.poses[2])) * left_distance
|
||||
distance_sensors[2] += np.cos(np.radians(self.poses[2])) * right_distance
|
||||
distance_sensors[3] += np.sin(np.radians(self.poses[2])) * right_distance
|
||||
# now eliminate those sensors that are too far outside the boundary
|
||||
# extension (extra layer) - those too far inside the boundary
|
||||
# extension (if needed) - make the boundary fuzzier - 20cm error?
|
||||
# poses to keep must be redefined - it's now shorter
|
||||
poses_to_keep = np.empty(len(self.poses[0]), dtype=np.bool)
|
||||
boundary_error = 100 # mm
|
||||
for position, distance_sensor in enumerate(distance_sensors.transpose()):
|
||||
poses_to_keep[position] = [
|
||||
arena.point_near_boundaries(distance_sensor[0], distance_sensor[1], boundary_error)
|
||||
and arena.point_near_boundaries(distance_sensor[2], distance_sensor[3], boundary_error)
|
||||
]
|
||||
# apply the keep as a mask to the poses using ulab.
|
||||
self.poses = np.array(
|
||||
[
|
||||
self.poses[0][poses_to_keep],
|
||||
self.poses[1][poses_to_keep],
|
||||
self.poses[2][poses_to_keep],
|
||||
]
|
||||
)
|
||||
print(self.poses.shape)
|
||||
|
||||
# Helpful note - when debugging this numpy code, use prints with the serial console
|
||||
# printing the object shape is often a very helpful way to debug what is going on.
|
||||
# Eg:
|
||||
# print("poses_to_keep.shape:", poses_to_keep.shape)
|
||||
# print("self.poses[0].shape:", self.poses[0].shape)
|
||||
|
||||
# steps:
|
||||
# regenerate poses
|
||||
# move robot
|
||||
# eliminate poses
|
||||
# send poses
|
||||
async def distance_sensor_updater(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_distance = 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_distance = robot.right_distance.distance * 10
|
||||
robot.right_distance.clear_interrupt()
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
async def run(self):
|
||||
asyncio.create_task(self.distance_sensor_updater())
|
||||
try:
|
||||
for _ in range(15):
|
||||
self.regenerate_poses()
|
||||
await self.move_robot()
|
||||
self.eliminate_poses(self.left_distance, self.right_distance)
|
||||
finally:
|
||||
robot.stop()
|
||||
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data) + "\n").encode())
|
||||
|
||||
|
||||
def read_command():
|
||||
data = robot.uart.readline()
|
||||
try:
|
||||
decoded = data.decode()
|
||||
except UnicodeError:
|
||||
print("UnicodeError decoding :")
|
||||
print(data)
|
||||
return None
|
||||
try:
|
||||
request = json.loads(decoded)
|
||||
except ValueError:
|
||||
print("ValueError reading json from:")
|
||||
print(decoded)
|
||||
return None
|
||||
return request
|
||||
|
||||
|
||||
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,
|
||||
}
|
||||
}
|
||||
)
|
||||
send_json(
|
||||
{
|
||||
"poses": simulation.poses.transpose().tolist(),
|
||||
}
|
||||
)
|
||||
await asyncio.sleep(0.5)
|
||||
|
||||
|
||||
async def command_handler(simulation):
|
||||
update_task = asyncio.create_task(updater(simulation))
|
||||
print("Starting handler")
|
||||
simulation_task = None
|
||||
# This line - helpful to debug - rapid iteration on connected robot.
|
||||
# simulation_task = asyncio.create_task(simulation.run())
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
request = read_command()
|
||||
if not request:
|
||||
print("no request")
|
||||
continue
|
||||
# {"command": "arena"}
|
||||
if request["command"] == "arena":
|
||||
send_json(
|
||||
{
|
||||
"arena": arena.boundary_lines,
|
||||
"target_zone": arena.target_zone,
|
||||
}
|
||||
)
|
||||
elif request["command"] == "start":
|
||||
print("Starting simulation")
|
||||
if simulation_task is None or simulation_task.done():
|
||||
simulation_task = asyncio.create_task(simulation.run())
|
||||
elif request["command"] == "stop":
|
||||
robot.stop()
|
||||
if simulation_task and not simulation_task.done():
|
||||
simulation_task.cancel()
|
||||
simulation_task = None
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
|
||||
simulation = Simulation()
|
||||
asyncio.run(command_handler(simulation))
|
||||
@ -1,15 +0,0 @@
|
||||
import random
|
||||
import math
|
||||
|
||||
def get_standard_normal_sample():
|
||||
"""Using the Marasaglia Polar method"""
|
||||
while True:
|
||||
u = random.uniform(-1, 1)
|
||||
v = random.uniform(-1, 1)
|
||||
s = u * u + v * v
|
||||
if s >= 1:
|
||||
continue
|
||||
return u * math.sqrt(-2 * math.log(s) / s)
|
||||
|
||||
def get_gaussian_sample(mean, standard_deviation):
|
||||
return get_standard_normal_sample() * standard_deviation + mean
|
||||
@ -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]
|
||||
@ -1,89 +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.line = ""
|
||||
self.arena = {}
|
||||
self.display_closed = False
|
||||
self.fig, self.ax = plt.subplots()
|
||||
self.pose_coords = []
|
||||
self.pose_uv = []
|
||||
|
||||
def handle_close(self, _):
|
||||
self.display_closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.line += data.decode("utf-8")
|
||||
while "\n" in self.line:
|
||||
line, self.line = self.line.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:
|
||||
# the robot poses are an array of [x, y, theta] arrays.
|
||||
# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
|
||||
poses = np.array(message["poses"]).T
|
||||
self.pose_coords = poses[:2]
|
||||
angle_rads = np.deg2rad(poses[2])
|
||||
self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
|
||||
|
||||
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"
|
||||
)
|
||||
for line in self.arena["target_zone"]:
|
||||
self.ax.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
|
||||
)
|
||||
if len(self.pose_coords) > 0:
|
||||
self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[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.display_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())
|
||||
789
ch-13/7-regenerating/computer/poetry.lock
generated
789
ch-13/7-regenerating/computer/poetry.lock
generated
@ -1,789 +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 = "22.10.0"
|
||||
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 = "1.64.0"
|
||||
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 = "21.3"
|
||||
description = "Core utilities for Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
|
||||
|
||||
[[package]]
|
||||
name = "pathspec"
|
||||
version = "0.10.1"
|
||||
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 = "2.5.2"
|
||||
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
|
||||
test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
|
||||
|
||||
[[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 = "65.5.0"
|
||||
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)", "mock", "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-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 = "7.0.5"
|
||||
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 = ">=1.0.0"
|
||||
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"
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||||
python-versions = "^3.9"
|
||||
content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
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||||
|
||||
[metadata.files]
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||||
async-timeout = [
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||||
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||||
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||||
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||||
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||||
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||||
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||||
bleak = [
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||||
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||||
{file = "bleak-0.19.0.tar.gz", hash = "sha256:cce5200ca9bac7daaa74dd009c867c8c2b161a124e234c74307462e86caf50e6"},
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||||
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||||
bleak-winrt = [
|
||||
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||||
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|
||||
{file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
|
||||
{file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
|
||||
]
|
||||
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"
|
||||
@ -1,3 +0,0 @@
|
||||
matplotlib==3.6.1
|
||||
numpy==1.23.4
|
||||
bleak==0.19.0
|
||||
@ -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)
|
||||
@ -1,46 +0,0 @@
|
||||
"""Represent the lines and target zone of the arena"""
|
||||
|
||||
|
||||
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)],
|
||||
]
|
||||
|
||||
|
||||
target_zone = [
|
||||
[(1100, 900), (1100, 1100)],
|
||||
[(1100, 1100), (1250, 1100)],
|
||||
[(1250, 1100), (1250, 900)],
|
||||
[(1250, 900), (1100, 900)],
|
||||
]
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
|
||||
def point_is_inside_arena(point):
|
||||
"""Return True if the point is inside the arena"""
|
||||
# cheat a little, the arena is a rectangle, with a cutout.
|
||||
# if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
|
||||
# this is far simpler than any line intersection method.
|
||||
|
||||
# is it inside the rectangle?
|
||||
if point[0] < 0 or point[0] > width \
|
||||
or point[1] < 0 or point[1] > height:
|
||||
return False
|
||||
# is it inside the cutout?
|
||||
if point[0] > 1000 and point[1] < 500:
|
||||
return False
|
||||
return True
|
||||
|
||||
def point_is_inside_target_zone(point):
|
||||
"""Return True if the point is inside the target zone"""
|
||||
# cheat a little, the target zone is a rectangle.
|
||||
# if the point is inside the rectangle, it's inside the target zone.
|
||||
if point[0] < 1100 or point[0] > 1250 \
|
||||
or point[1] < 900 or point[1] > 1100:
|
||||
return False
|
||||
return True
|
||||
@ -1,130 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
from guassian import get_gaussian_sample
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 50
|
||||
# x, y, heading
|
||||
self.poses = np.empty((self.population_size, 3), dtype=np.float)
|
||||
self.generate_poses()
|
||||
|
||||
def generate_poses(self):
|
||||
if len(self.poses) < self.population_size:
|
||||
if len(self.poses) > 0:
|
||||
mean = np.mean(self.poses, 1)
|
||||
std = np.std(self.poses, 1)
|
||||
else:
|
||||
mean = (arena.width/2, arena.height/2, 180)
|
||||
std = (arena.width/4, arena.height/4, 180)
|
||||
for n in range(self.population_size - len(self.poses)):
|
||||
self.poses.append(
|
||||
get_gaussian_sample(mean[0], std[0]),
|
||||
get_gaussian_sample(mean[1], std[1]),
|
||||
get_gaussian_sample(mean[2], std[2])
|
||||
)
|
||||
# hmm - cannot expand, or resize np arrays.
|
||||
# maybe we use normal py arrays apart from the mean/std bit?
|
||||
# a real numpy whizz may have a better way.
|
||||
|
||||
def move_poses(self, speed_in_mm, heading_change):
|
||||
for pose in self.poses:
|
||||
pose[2] += heading_change
|
||||
pose[2] = pose[2] % 360
|
||||
pose[0] += speed_in_mm * np.cos(np.radians(pose[2]))
|
||||
pose[1] += speed_in_mm * np.sin(np.radians(pose[2]))
|
||||
|
||||
def eliminate_impossible_poses(self, left_distance, right_distance):
|
||||
poses_to_keep = np.ones(len(self.poses), dtype=np.uint8)
|
||||
# todo: would reorganising these pose arrays let us better use ulab tools?
|
||||
for position, pose in enumerate(self.poses):
|
||||
# first those outside the arena
|
||||
keep = arena.point_is_inside_arena((pose[0], pose[1]))
|
||||
if keep:
|
||||
left_distance_origin = pose[0] + robot.distance_sensor_from_middle * np.cos(np.radians(pose[2] + 90)), pose[1] + robot.distance_sensor_from_middle * np.sin(np.radians(pose[2] + 90))
|
||||
right_distance_origin = pose[0] + robot.distance_sensor_from_middle * np.cos(np.radians(pose[2] - 90)), pose[1] + robot.distance_sensor_from_middle * np.sin(np.radians(pose[2] - 90))
|
||||
left_distance_end = left_distance_origin[0] + left_distance * np.cos(np.radians(pose[2])), left_distance_origin[1] + left_distance * np.sin(np.radians(pose[2]))
|
||||
right_distance_end = right_distance_origin[0] + right_distance * np.cos(np.radians(pose[2])), right_distance_origin[1] + right_distance * np.sin(np.radians(pose[2]))
|
||||
keep = arena.point_is_inside_arena(left_distance_end) and arena.point_is_inside_arena(right_distance_end)
|
||||
poses_to_keep[position] = int(keep)
|
||||
# apply the keep as a mask to the poses using ulab. - doesn't work in ulab.
|
||||
self.poses = np.array([item for item, keep in zip(self.poses, poses_to_keep) if keep])
|
||||
|
||||
async def run(self):
|
||||
try:
|
||||
robot.left_distance.start_ranging()
|
||||
robot.right_distance.start_ranging()
|
||||
for _ in range(15):
|
||||
starting_heading = robot.imu.euler[0]
|
||||
encoder_left = robot.left_encoder.read()
|
||||
encoder_right = robot.right_encoder.read()
|
||||
robot.set_left(1)
|
||||
robot.set_right(0.5)
|
||||
await asyncio.sleep(0.1)
|
||||
left_movement = robot.left_encoder.read() - encoder_left
|
||||
right_movement = robot.right_encoder.read() - encoder_right
|
||||
# move poses
|
||||
speed_in_mm = robot.ticks_to_m * ((left_movement + right_movement) / 2) * 1000
|
||||
new_heading = robot.imu.euler[0]
|
||||
heading_change = starting_heading - new_heading
|
||||
self.move_poses(speed_in_mm, heading_change)
|
||||
if robot.left_distance.data_ready and robot.right_distance.data_ready:
|
||||
left_distance = robot.left_distance.distance * 10 # convert to mm
|
||||
right_distance = robot.right_distance.distance * 10
|
||||
self.eliminate_impossible_poses(left_distance, right_distance)
|
||||
self.generate_poses()
|
||||
robot.left_distance.clear_interrupt()
|
||||
robot.right_distance.clear_interrupt()
|
||||
finally:
|
||||
robot.stop()
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data)+"\n").encode())
|
||||
|
||||
async def command_handler(simulation):
|
||||
simulation_task = None
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
try:
|
||||
data = robot.uart.readline().decode()
|
||||
request = json.loads(data)
|
||||
except (UnicodeError, ValueError):
|
||||
print("Invalid data")
|
||||
continue
|
||||
# {"command": "arena"}
|
||||
if request["command"] == "arena":
|
||||
send_json({
|
||||
"arena": arena.boundary_lines,
|
||||
"target_zone": arena.target_zone,
|
||||
})
|
||||
elif request["command"] == "start":
|
||||
print("Starting simulation")
|
||||
if simulation_task is None or simulation_task.done():
|
||||
simulation_task = asyncio.create_task(simulation.run())
|
||||
elif request["command"] == "stop":
|
||||
robot.stop()
|
||||
if simulation_task and not simulation_task.done():
|
||||
simulation_task.cancel()
|
||||
simulation_task = None
|
||||
else:
|
||||
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,
|
||||
}})
|
||||
send_json({
|
||||
"poses": simulation.poses.tolist(),
|
||||
})
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
simulation= Simulation()
|
||||
asyncio.run(command_handler(simulation))
|
||||
@ -1,15 +0,0 @@
|
||||
import random
|
||||
import math
|
||||
|
||||
def get_standard_normal_sample():
|
||||
"""Using the Marasaglia Polar method"""
|
||||
while True:
|
||||
u = random.uniform(-1, 1)
|
||||
v = random.uniform(-1, 1)
|
||||
s = u * u + v * v
|
||||
if s >= 1:
|
||||
continue
|
||||
return u * math.sqrt(-2 * math.log(s) / s)
|
||||
|
||||
def get_gaussian_sample(mean, standard_deviation):
|
||||
return get_standard_normal_sample() * standard_deviation + mean
|
||||
@ -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]
|
||||
@ -1,77 +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_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
|
||||
@ -1,98 +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.line = ""
|
||||
self.arena = {}
|
||||
self.display_closed = False
|
||||
self.fig, self.ax = plt.subplots()
|
||||
self.pose_coords = []
|
||||
self.pose_uv = []
|
||||
|
||||
def handle_close(self, _):
|
||||
self.display_closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.line += data.decode("utf-8")
|
||||
while "\n" in self.line:
|
||||
line, self.line = self.line.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:
|
||||
# the robot poses are an array of [x, y, theta] arrays.
|
||||
# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
|
||||
poses = np.array(message["poses"]).T
|
||||
self.pose_coords = poses[:2]
|
||||
angle_rads = np.deg2rad(poses[2])
|
||||
self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
|
||||
self.mean = message["mean"]
|
||||
self.std = message["std"]
|
||||
|
||||
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"
|
||||
)
|
||||
for line in self.arena["target_zone"]:
|
||||
self.ax.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
|
||||
)
|
||||
if len(self.pose_coords) > 0:
|
||||
self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
|
||||
if self.mean:
|
||||
# draw an arrow in green to show the mean (x, y, theta)
|
||||
self.ax.quiver(self.mean[0], self.mean[1], np.cos(np.deg2rad(self.mean[2])), np.sin(np.deg2rad(self.mean[2])), color="green")
|
||||
# and a circle (in red with 60% opacity) to show the standard deviation
|
||||
circle = plt.Circle((self.mean[0], self.mean[1]), self.std, color='red', alpha=0.6)
|
||||
self.ax.add_artist(circle)
|
||||
|
||||
async def send_command(self, command):
|
||||
#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
|
||||
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.display_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())
|
||||
789
ch-13/8-seeking-target/computer/poetry.lock
generated
789
ch-13/8-seeking-target/computer/poetry.lock
generated
@ -1,789 +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 = "22.10.0"
|
||||
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 = "1.64.0"
|
||||
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 = "21.3"
|
||||
description = "Core utilities for Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
|
||||
|
||||
[[package]]
|
||||
name = "pathspec"
|
||||
version = "0.10.1"
|
||||
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 = "2.5.2"
|
||||
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
|
||||
test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
|
||||
|
||||
[[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 = "65.5.0"
|
||||
description = "Easily download, build, install, upgrade, and uninstall Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
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{file = "Pillow-9.3.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:12ce4932caf2ddf3e41d17fc9c02d67126935a44b86df6a206cf0d7161548627"},
|
||||
{file = "Pillow-9.3.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae5331c23ce118c53b172fa64a4c037eb83c9165aba3a7ba9ddd3ec9fa64a699"},
|
||||
{file = "Pillow-9.3.0-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:0b07fffc13f474264c336298d1b4ce01d9c5a011415b79d4ee5527bb69ae6f65"},
|
||||
{file = "Pillow-9.3.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:073adb2ae23431d3b9bcbcff3fe698b62ed47211d0716b067385538a1b0f28b8"},
|
||||
{file = "Pillow-9.3.0.tar.gz", hash = "sha256:c935a22a557a560108d780f9a0fc426dd7459940dc54faa49d83249c8d3e760f"},
|
||||
]
|
||||
platformdirs = [
|
||||
{file = "platformdirs-2.5.2-py3-none-any.whl", hash = "sha256:027d8e83a2d7de06bbac4e5ef7e023c02b863d7ea5d079477e722bb41ab25788"},
|
||||
{file = "platformdirs-2.5.2.tar.gz", hash = "sha256:58c8abb07dcb441e6ee4b11d8df0ac856038f944ab98b7be6b27b2a3c7feef19"},
|
||||
]
|
||||
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"},
|
||||
]
|
||||
pyparsing = [
|
||||
{file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
|
||||
{file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
|
||||
]
|
||||
python-dateutil = [
|
||||
{file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
|
||||
{file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
|
||||
]
|
||||
setuptools = [
|
||||
{file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
|
||||
{file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
|
||||
]
|
||||
setuptools-scm = [
|
||||
{file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
|
||||
{file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
|
||||
]
|
||||
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"},
|
||||
]
|
||||
@ -1,3 +0,0 @@
|
||||
matplotlib==3.6.1
|
||||
numpy==1.23.4
|
||||
bleak==0.19.0
|
||||
@ -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)
|
||||
@ -1,96 +0,0 @@
|
||||
"""Represent the lines and target zone of the arena"""
|
||||
import math
|
||||
|
||||
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
|
||||
|
||||
|
||||
def point_is_inside_arena(x, y):
|
||||
"""Return True if the point is inside the arena"""
|
||||
# cheat a little, the arena is a rectangle, with a cutout.
|
||||
# if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
|
||||
# this is far simpler than any line intersection method.
|
||||
|
||||
# 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 distance_from_line_segment(line_segment, point_x, point_y):
|
||||
"""Return the distance from the point to the line segment"""
|
||||
# get the line as a, b, c where ax + by + c = 0
|
||||
line_x1, line_y1 = line_segment[0]
|
||||
line_x2, line_y2 = line_segment[1]
|
||||
a = line_y1 - line_y2
|
||||
b = line_x2 - line_x1
|
||||
c = line_x1 * line_y2 - line_x2 * line_y1
|
||||
# calculate the distance
|
||||
return abs(a * point_x + b * point_y + c) / math.sqrt(a * a + b * b)
|
||||
|
||||
|
||||
# def intersect_ray_with_line_segment(line_segment, ray_x, ray_y, ray_heading):
|
||||
# """Return the distance from the ray origin to the intersection point along the given ray heading"""
|
||||
# # get the line as a, b, c where ax + by + c = 0
|
||||
# line_x1, line_y1 = line_segment[0]
|
||||
# line_x2, line_y2 = line_segment[1]
|
||||
# a = line_y1 - line_y2
|
||||
# b = line_x2 - line_x1
|
||||
# c = line_x1 * line_y2 - line_x2 * line_y1
|
||||
# # calculate the intersection point
|
||||
|
||||
def intersection_distance_for_segment_and_ray(line_segment, ray_as_points):
|
||||
"""Return the intersection distance of a ray with a line segment, or None if they don't intersect"""
|
||||
# get the lines as a, b, c where ax + by + c = 0
|
||||
line_x1, line_y1 = line_segment[0]
|
||||
line_x2, line_y2 = line_segment[1]
|
||||
a = line_y1 - line_y2
|
||||
b = line_x2 - line_x1
|
||||
c = line_x1 * line_y2 - line_x2 * line_y1
|
||||
ray_ox, ray_oy = ray_as_points[0]
|
||||
ray_x2, ray_y2 = ray_as_points[1]
|
||||
d = ray_oy - ray_y2
|
||||
e = ray_x2 - ray_ox
|
||||
f = ray_ox * ray_y2 - ray_x2 * ray_oy
|
||||
# calculate the intersection point
|
||||
denominator = a * e - b * d
|
||||
if denominator == 0:
|
||||
# the lines are parallel
|
||||
return None
|
||||
x = (c * e - b * f) / denominator
|
||||
y = (a * f - c * d) / denominator
|
||||
# check that the intersection point is on both line segments
|
||||
if x < min(line_segment[0][0], line_segment[1][0]) \
|
||||
or x > max(line_segment[0][0], line_segment[1][0]) \
|
||||
or y < min(line_segment[0][1], line_segment[1][1]) \
|
||||
or y > max(line_segment[0][1], line_segment[1][1]):
|
||||
return None
|
||||
# calculate the distance from the ray origin to the intersection point
|
||||
dx = x - ray_ox
|
||||
dy = y - ray_oy
|
||||
|
||||
return math.sqrt(dx * dx + dy * dy)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def point_near_boundaries(point_x, point_y, distance):
|
||||
"""Return True if the point is close enough to the boundary lines"""
|
||||
for line_segment in boundary_lines:
|
||||
if distance_from_line_segment(line_segment, point_x, point_y) < distance:
|
||||
return True
|
||||
return False
|
||||
@ -1,272 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
from guassian import get_gaussian_sample
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 50
|
||||
self.left_distance = 100
|
||||
self.right_distance = 100
|
||||
|
||||
# poses can be a list of x[pop size], y[pop size], heading[pop size]
|
||||
# while less "pythonic" it is more "numpyish"
|
||||
self.poses = np.empty((3, 0), dtype=np.float)
|
||||
self.regenerate_poses()
|
||||
self.mean = np.array((arena.width / 2, arena.height / 2, 180), dtype=np.float)
|
||||
self.std = np.array((arena.width / 4, arena.height / 4, 180), dtype=np.float)
|
||||
|
||||
def regenerate_poses(self):
|
||||
# determine the number
|
||||
number_to_make = self.population_size - len(self.poses[0])
|
||||
new_poses = np.empty((3, number_to_make), dtype=np.float)
|
||||
# determine the mean and std for new poses
|
||||
if len(self.poses[0]) > 0:
|
||||
self.mean = np.mean(self.poses, 0)
|
||||
self.std = np.std(self.poses, 0)
|
||||
else:
|
||||
self.mean = np.array((arena.width / 2, arena.height / 2, 180))
|
||||
self.std = np.array((arena.width / 4, arena.height / 4, 180))
|
||||
print("mean.shape :", mean.shape)
|
||||
print("std.shape :", std.shape)
|
||||
|
||||
# generate new poses
|
||||
print(f"Generating {number_to_make} new poses.")
|
||||
for n in range(number_to_make):
|
||||
new_poses[0, n] = get_gaussian_sample(self.mean[0], self.std[0])
|
||||
new_poses[1, n] = get_gaussian_sample(self.mean[1], self.std[1])
|
||||
new_poses[2, n] = get_gaussian_sample(self.mean[2], self.std[2])
|
||||
# set poses to concatenation of new poses and remaining poses
|
||||
self.poses = np.concatenate((self.poses, new_poses), axis=1)
|
||||
|
||||
# hmm - cannot expand, or resize np arrays.
|
||||
# maybe we use normal py arrays apart from the mean/std bit?
|
||||
# a real numpy whizz may have a better way.
|
||||
|
||||
|
||||
|
||||
async def move_robot(self):
|
||||
starting_heading = robot.imu.euler[0]
|
||||
encoder_left = robot.left_encoder.read()
|
||||
encoder_right = robot.right_encoder.read()
|
||||
robot.set_left(0.8)
|
||||
robot.set_right(0.8)
|
||||
await asyncio.sleep(0.1)
|
||||
# record sensor changes
|
||||
left_movement = robot.left_encoder.read() - encoder_left
|
||||
right_movement = robot.right_encoder.read() - encoder_right
|
||||
speed_in_mm = robot.ticks_to_m * ((left_movement + right_movement) / 2) * 1000
|
||||
new_heading = robot.imu.euler[0]
|
||||
if new_heading:
|
||||
heading_change = starting_heading - new_heading
|
||||
else:
|
||||
print("Failed to get heading")
|
||||
heading_change = 0
|
||||
|
||||
# move poses
|
||||
radians = np.radians(self.poses[2])
|
||||
self.poses[0] += speed_in_mm * np.cos(radians)
|
||||
self.poses[1] += speed_in_mm * np.sin(radians)
|
||||
self.poses[2] += np.full(self.poses[2].shape, heading_change)
|
||||
self.poses[2] = np.vectorize(lambda n: n % 360)(self.poses[2])
|
||||
|
||||
# ```
|
||||
# >>> first = np.array([[1, 2, 3, 4], [5,6,7,8]])
|
||||
# >>> second = np.array([3, 6, 9, 12])
|
||||
# >>> first + second
|
||||
# array([[ 4, 8, 12, 16],
|
||||
# [ 8, 12, 16, 20]])
|
||||
# >>> second = np.array([[3, 6, 9, 12], [1,1,1,1]])
|
||||
# >>> first + second
|
||||
# array([[ 4, 8, 12, 16],
|
||||
# [ 6, 7, 8, 9]])
|
||||
# >>> test=np.arange(10)
|
||||
# >>> test
|
||||
# array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int16)
|
||||
# >>> mask = np.empty(len(test), dtype=np.bool)
|
||||
# >>> mask
|
||||
# array([False, False, False, False, False, False, False, False, False], dtype=bool)
|
||||
# >>> mask[3] = [True]
|
||||
# >>> mask[5] = [True]
|
||||
# >>> mask[6] = [True]
|
||||
# >>> test[mask]
|
||||
# array([4, 6, 7], dtype=int16)
|
||||
# ```
|
||||
|
||||
def eliminate_poses(self, left_distance, right_distance):
|
||||
poses_to_keep = np.empty(len(self.poses[0]), dtype=np.bool)
|
||||
# first eliminate those outside the arena
|
||||
for position, pose in enumerate(self.poses.transpose()):
|
||||
# first those outside the arena
|
||||
poses_to_keep[position] = [arena.point_is_inside_arena(pose[0], pose[1])]
|
||||
# apply the keep as a mask to the poses using ulab.
|
||||
self.poses = np.array(
|
||||
[
|
||||
self.poses[0][poses_to_keep],
|
||||
self.poses[1][poses_to_keep],
|
||||
self.poses[2][poses_to_keep],
|
||||
]
|
||||
)
|
||||
|
||||
# Then deal with sensors
|
||||
# todo: would reorganising these pose arrays let us better use ulab tools?
|
||||
distance_sensors = np.empty((4, len(self.poses[0])), dtype=np.float)
|
||||
# sensors - they are facing forward, either side of the robot. Project them out to the sides
|
||||
distance_sensors[0] = self.poses[
|
||||
0
|
||||
] + robot.distance_sensor_from_middle * np.cos(np.radians(self.poses[2] + 90))
|
||||
distance_sensors[1] = self.poses[
|
||||
1
|
||||
] + robot.distance_sensor_from_middle * np.sin(np.radians(self.poses[2] + 90))
|
||||
# sensor right
|
||||
distance_sensors[2] = self.poses[
|
||||
0
|
||||
] + robot.distance_sensor_from_middle * np.cos(np.radians(self.poses[2] - 90))
|
||||
distance_sensors[3] = self.poses[
|
||||
1
|
||||
] + robot.distance_sensor_from_middle * np.sin(np.radians(self.poses[2] - 90))
|
||||
# now project these sensors forward based on their distance read
|
||||
distance_sensors[0] += np.cos(np.radians(self.poses[2])) * left_distance
|
||||
distance_sensors[1] += np.sin(np.radians(self.poses[2])) * left_distance
|
||||
distance_sensors[2] += np.cos(np.radians(self.poses[2])) * right_distance
|
||||
distance_sensors[3] += np.sin(np.radians(self.poses[2])) * right_distance
|
||||
# now eliminate those sensors that are too far outside the boundary
|
||||
# extension (extra layer) - those too far inside the boundary
|
||||
# extension (if needed) - make the boundary fuzzier - 20cm error?
|
||||
# poses to keep must be redefined - it's now shorter
|
||||
poses_to_keep = np.empty(len(self.poses[0]), dtype=np.bool)
|
||||
boundary_error = 100 # mm
|
||||
for position, distance_sensor in enumerate(distance_sensors.transpose()):
|
||||
poses_to_keep[position] = [
|
||||
arena.point_near_boundaries(distance_sensor[0], distance_sensor[1], boundary_error)
|
||||
and arena.point_near_boundaries(distance_sensor[2], distance_sensor[3], boundary_error)
|
||||
]
|
||||
# apply the keep as a mask to the poses using ulab.
|
||||
self.poses = np.array(
|
||||
[
|
||||
self.poses[0][poses_to_keep],
|
||||
self.poses[1][poses_to_keep],
|
||||
self.poses[2][poses_to_keep],
|
||||
]
|
||||
)
|
||||
print(self.poses.shape)
|
||||
|
||||
# Helpful note - when debugging this numpy code, use prints with the serial console
|
||||
# printing the object shape is often a very helpful way to debug what is going on.
|
||||
# Eg:
|
||||
# print("poses_to_keep.shape:", poses_to_keep.shape)
|
||||
# print("self.poses[0].shape:", self.poses[0].shape)
|
||||
|
||||
# steps:
|
||||
# regenerate poses
|
||||
# move robot
|
||||
# eliminate poses
|
||||
# send poses
|
||||
async def distance_sensor_updater(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_distance = 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_distance = robot.right_distance.distance * 10
|
||||
robot.right_distance.clear_interrupt()
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
async def run(self):
|
||||
asyncio.create_task(self.distance_sensor_updater())
|
||||
try:
|
||||
for _ in range(15):
|
||||
self.regenerate_poses()
|
||||
await self.move_robot()
|
||||
self.eliminate_poses(self.left_distance, self.right_distance)
|
||||
finally:
|
||||
robot.stop()
|
||||
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data) + "\n").encode())
|
||||
|
||||
|
||||
def read_command():
|
||||
data = robot.uart.readline()
|
||||
try:
|
||||
decoded = data.decode()
|
||||
except UnicodeError:
|
||||
print("UnicodeError decoding :")
|
||||
print(data)
|
||||
return None
|
||||
try:
|
||||
request = json.loads(decoded)
|
||||
except ValueError:
|
||||
print("ValueError reading json from:")
|
||||
print(decoded)
|
||||
return None
|
||||
return request
|
||||
|
||||
|
||||
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,
|
||||
}
|
||||
}
|
||||
)
|
||||
send_json(
|
||||
{
|
||||
"poses": simulation.poses.transpose().tolist(),
|
||||
"std": simulation.std.tolist(),
|
||||
"mean": simulation.mean.tolist(),
|
||||
}
|
||||
)
|
||||
await asyncio.sleep(0.5)
|
||||
|
||||
|
||||
async def command_handler(simulation):
|
||||
update_task = asyncio.create_task(updater(simulation))
|
||||
print("Starting handler")
|
||||
simulation_task = None
|
||||
# This line - helpful to debug - rapid iteration on connected robot.
|
||||
# simulation_task = asyncio.create_task(simulation.run())
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
request = read_command()
|
||||
if not request:
|
||||
print("no request")
|
||||
continue
|
||||
# {"command": "arena"}
|
||||
if request["command"] == "arena":
|
||||
send_json(
|
||||
{
|
||||
"arena": arena.boundary_lines,
|
||||
"target_zone": arena.target_zone,
|
||||
}
|
||||
)
|
||||
elif request["command"] == "start":
|
||||
print("Starting simulation")
|
||||
if simulation_task is None or simulation_task.done():
|
||||
simulation_task = asyncio.create_task(simulation.run())
|
||||
elif request["command"] == "stop":
|
||||
robot.stop()
|
||||
if simulation_task and not simulation_task.done():
|
||||
simulation_task.cancel()
|
||||
simulation_task = None
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
|
||||
simulation = Simulation()
|
||||
asyncio.run(command_handler(simulation))
|
||||
@ -1,15 +0,0 @@
|
||||
import random
|
||||
import math
|
||||
|
||||
def get_standard_normal_sample():
|
||||
"""Using the Marasaglia Polar method"""
|
||||
while True:
|
||||
u = random.uniform(-1, 1)
|
||||
v = random.uniform(-1, 1)
|
||||
s = u * u + v * v
|
||||
if s >= 1:
|
||||
continue
|
||||
return u * math.sqrt(-2 * math.log(s) / s)
|
||||
|
||||
def get_gaussian_sample(mean, standard_deviation):
|
||||
return get_standard_normal_sample() * standard_deviation + mean
|
||||
@ -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
|
||||
Loading…
x
Reference in New Issue
Block a user