Sensor movement of poses

2022-11-13 19:11:20 +00:00
parent be73bc3dc3
commit f6f7e0f2eb
11 changed files with 1260 additions and 0 deletions
@@ -0,0 +1,46 @@
+"""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
@@ -0,0 +1,73 @@
+import asyncio
+import json
+import random
+from ulab import numpy as np
+
+import arena
+import robot
+
+class Simulation:
+  def __init__(self):
+    population_size = 10
+    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)
+  
+  async def run(self):
+    try:
+      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
+        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
+        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]))
+    finally:
+      robot.stop()
+
+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":
+         response = {
+            "arena": arena.boundary_lines,
+            "target_zone": arena.target_zone,
+         }
+         robot.uart.write((json.dumps(response)+"\n").encode())
+      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:
+      response = {
+        "poses": simulation.poses.tolist(),
+      }
+      robot.uart.write((json.dumps(response)+"\n").encode())
+    await asyncio.sleep(0.1)
+
+simulation= Simulation()
+asyncio.run(command_handler(simulation))
@@ -0,0 +1,27 @@
+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
@@ -0,0 +1,84 @@
+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]
@@ -0,0 +1,75 @@
+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)
+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