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| Author | SHA1 | Date | |
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 Danny Staple
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Danny Staple
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Danny Staple
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Danny Staple
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@@ -5,4 +5,3 @@
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*.FCStd1
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secrets.py
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libs
|
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.idea/
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|
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@@ -1,93 +0,0 @@
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# Robotics at Home with Raspberry Pi Pico
|
||||
|
||||
<a href="https://www.packtpub.com/product/robotics-at-home-with-raspberry-pi-pico/9781803246079?utm_source=github&utm_medium=repository&utm_campaign=9781803246079"><img src="https://static.packt-cdn.com/products/9781803246079/cover/smaller" alt="" height="256px" align="right"></a>
|
||||
|
||||
This is the code repository for [Robotics at Home with Raspberry Pi Pico](https://www.packtpub.com/product/robotics-at-home-with-raspberry-pi-pico/9781803246079?utm_source=github&utm_medium=repository&utm_campaign=9781803246079), published by Packt.
|
||||
|
||||
**Build autonomous robots with the versatile low-cost Raspberry Pi Pico controller and Python**
|
||||
|
||||
## What is this book about?
|
||||
The field of robotics is expanding, and this is the perfect time to learn how to create robots at home for different purposes. This book will help you take your first steps in planning, building, and programming a robot with Raspberry Pi Pico, an impressive controller bursting with IO capabilities. After a quick tour of the Pico, you'll begin designing a robot chassis in 3D CAD. With easy-to-follow instructions, shopping lists, and plans, you'll start building the robot. Further, you'll add simple sensors and outputs to extend the robot, reinforce design skills and build knowledge in programming with circuit Python, understand interactions with electronics, standard robotics algorithms, and the discipline and process for building robots. Moving forward, you'll learn to add more complicated sensors and robotic behaviors, with increasing complexity levels, giving you hands-on experience. You'll learn Raspberry Pi Pico's excellent features like PIO, adding capabilities like avoiding walls, detecting movement and compass heading. You'll combine these with Bluetooth BLE for seeing sensor data and remotely control with a smartphone. Finally, you'll program the robot to find its location in an arena.
|
||||
|
||||
This book covers the following exciting features:
|
||||
* Interface Raspberry Pi Pico with motors to move parts
|
||||
* Design in 3D CAD with Free CAD
|
||||
* Build a simple robot and extend it for more complex projects
|
||||
* Interface Raspberry Pi Pico with sensors and Bluetooth BLE
|
||||
* Visualize robot data with Matplotlib
|
||||
* Gain an understanding of robotics algorithms on Pico for smart behavior
|
||||
|
||||
If you feel this book is for you, get your [copy](https://www.amazon.com/dp/1803246073) today!
|
||||
|
||||
<a href="https://www.packtpub.com/?utm_source=github&utm_medium=banner&utm_campaign=GitHubBanner"><img src="https://raw.githubusercontent.com/PacktPublishing/GitHub/master/GitHub.png"
|
||||
alt="https://www.packtpub.com/" border="5" /></a>
|
||||
|
||||
## Instructions and Navigations
|
||||
All of the code is organized into folders. For example, ch-01.
|
||||
|
||||
A block of code is set as follows:
|
||||
```
|
||||
import time
|
||||
import board
|
||||
import digitalio
|
||||
|
||||
led = digitalio.DigitalInOut(board.LED)
|
||||
led.direction = digitalio.Direction.OUTPUT
|
||||
|
||||
while True:
|
||||
led.value = True
|
||||
time.sleep(0.5)
|
||||
led.value = False
|
||||
time.sleep(0.5)
|
||||
```
|
||||
When we wish to draw your attention to a particular part of a code block, the relevant lines or items are set in bold:
|
||||
```
|
||||
>>> 𝗽𝗿𝗶𝗻𝘁("𝗛𝗲𝗹𝗹𝗼, 𝘄𝗼𝗿𝗹𝗱!")
|
||||
Hello, World!
|
||||
>>>
|
||||
```
|
||||
Any command-line input or output is written as follows:
|
||||
```
|
||||
𝗰𝗼𝗱𝗲.𝗽𝘆 𝗼𝘂𝘁𝗽𝘂𝘁:
|
||||
𝟰𝟰𝟰𝟯 𝟰𝟱𝟮𝟮
|
||||
```
|
||||
|
||||
**Following is what you need for this book:**
|
||||
This book is for beginner robot makers, keen hobbyists, technical enthusiasts, developers and STEM teachers who want to build robots at home. Prior knowledge of coding - beginner to intermediate programming, will be helpful.
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|
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With the following software and hardware list you can run all code files present in the book (Chapter 1-14).
|
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### Software and Hardware List
|
||||
| Software required | OS required |
|
||||
| ------------------------------------ | ----------------------------------- |
|
||||
| Thonny > 3.3 or Mu Editor > 1.1 | macOS, Linux, or Windows |
|
||||
| Python 3.7 or later | macOS, Linux, or Windows |
|
||||
| Matplotlib 3.6.1 or later | macOS, Linux, or Windows |
|
||||
| NumPy 1.23.4 or later | macOS, Linux, or Windows |
|
||||
| Bleak (Python BLE library) 0.19.0 or above | macOS, Linux, or Windows |
|
||||
| Free USB port | macOS, Linux, or Windows |
|
||||
| Smartphone/tablet with Bluetooth LE (Bluetooth > 4.0) | iOS or Android |
|
||||
| Adafruit Bluefruit LE Connect > 3.3.2 | iOS or Android |
|
||||
| Bluetooth LE-enabled laptop (or BLE dongle) | macOS, Linux, or Windows |
|
||||
| FreeCAD | macOS, Linux, or Windows |
|
||||
| Raspberry Pi Pico | |
|
||||
| CircuitPython > 7.2.0 | Raspberry Pi Pico |
|
||||
|
||||
We also provide a PDF file that has color images of the screenshots/diagrams used in this book. [Click here to download it](https://packt.link/7x3ku).
|
||||
|
||||
### Related products
|
||||
* Raspberry Pi Pico DIY Workshop [[Packt]](https://www.packtpub.com/product/raspberry-pi-pico-diy-workshop/9781801814812?utm_source=github&utm_medium=repository&utm_campaign=9781801814812) [[Amazon]](https://www.amazon.com/dp/1801814813)
|
||||
|
||||
* Learn Robotics Programming - Second Edition [[Packt]](https://www.packtpub.com/product/learn-robotics-programming-second-edition/9781839218804?utm_source=github&utm_medium=repository&utm_campaign=9781839218804) [[Amazon]](https://www.amazon.com/dp/1839218800)
|
||||
|
||||
## Get to Know the Author
|
||||
**Danny Staple**
|
||||
Danny Staple is an author who builds robots and gadgets at home, and makes videos about his work on the YouTube channel OrionRobots. He attends robotics and maker events such as PiWars and Arduino Day. He's been building robots for 20 years, having run Lego Robotics clubs with Mindstorms and is a mentor at a local CoderDojo, where he teaches kids how to code with Python.
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He has been a professional Python programmer since 2009, and a software engineer since 2000. He has worked with embedded systems, throughout the majority of his career. The robots he has built at home with his children include TankBot, SkittleBot (a PiWars 2018 robot), Bangers n Bash (LunchBot), ArmBot, and SpiderBot. He is better at building robots than naming them.
|
||||
|
||||
## Other books by the authors
|
||||
* [Learn Robotics Programming - Second Edition](https://www.packtpub.com/product/learn-robotics-programming-second-edition/9781839218804?utm_source=github&utm_medium=repository&utm_campaign=9781839218804)
|
||||
|
||||
### Download a free PDF
|
||||
|
||||
<i>If you have already purchased a print or Kindle version of this book, you can get a DRM-free PDF version at no cost.<br>Simply click on the link to claim your free PDF.</i>
|
||||
<p align="center"> <a href="https://packt.link/free-ebook/9781803246079">https://packt.link/free-ebook/9781803246079 </a> </p>
|
||||
@@ -14,22 +14,22 @@ class PController:
|
||||
|
||||
|
||||
## We'll set up a single distance sensor, and keep a set distance from an object
|
||||
robot.right_distance.distance_mode = 1
|
||||
robot.right_distance.start_ranging()
|
||||
robot.left_distance.distance_mode = 1
|
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robot.left_distance.start_ranging()
|
||||
|
||||
distance_set_point = 10
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||||
distance_controller = PController(-0.1)
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||||
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||||
while True:
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||||
if robot.right_distance.data_ready:
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distance = robot.right_distance.distance
|
||||
if robot.left_distance.data_ready:
|
||||
distance = robot.left_distance.distance
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error = distance_set_point - distance
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speed = distance_controller.calculate(error)
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if abs(speed) < 0.3:
|
||||
if abs(speed) < 0.2:
|
||||
speed = 0
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uart.write(f"{error},{speed}\n".encode())
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print(f"{error},{speed}")
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robot.set_left(speed)
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robot.set_right(speed)
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robot.right_distance.clear_interrupt()
|
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robot.left_distance.clear_interrupt()
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time.sleep(0.05)
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||||
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||||
@@ -17,28 +17,28 @@ class PIController:
|
||||
|
||||
|
||||
## We'll set up a single distance sensor, and keep a set distance from an object
|
||||
robot.right_distance.distance_mode = 1
|
||||
robot.right_distance.start_ranging()
|
||||
robot.left_distance.distance_mode = 1
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robot.left_distance.start_ranging()
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distance_set_point = 10
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distance_controller = PIController(-0.19, -0.005)
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|
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prev_time = time.monotonic()
|
||||
while True:
|
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if robot.right_distance.data_ready:
|
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distance = robot.right_distance.distance
|
||||
if robot.left_distance.data_ready:
|
||||
distance = robot.left_distance.distance
|
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error = distance_set_point - distance
|
||||
|
||||
current_time = time.monotonic()
|
||||
speed = distance_controller.calculate(error, current_time - prev_time)
|
||||
prev_time = current_time
|
||||
# Control the motors with the speed
|
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if abs(speed) < 0.3:
|
||||
if abs(speed) < 0.35:
|
||||
speed = 0
|
||||
uart.write(f"{error},{speed},"
|
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f"{distance_controller.integral}\n".encode())
|
||||
print(f"{error},{speed},{distance_controller.integral}")
|
||||
robot.set_left(speed)
|
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robot.set_right(speed)
|
||||
robot.right_distance.clear_interrupt()
|
||||
robot.left_distance.clear_interrupt()
|
||||
time.sleep(0.05)
|
||||
|
||||
@@ -8,28 +8,28 @@ uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
|
||||
## We'll set up a single distance sensor, and keep a set distance from an object
|
||||
robot.right_distance.distance_mode = 1
|
||||
robot.right_distance.start_ranging()
|
||||
robot.left_distance.distance_mode = 1
|
||||
robot.left_distance.start_ranging()
|
||||
|
||||
distance_set_point = 10
|
||||
distance_controller = PIDController(-0.09, -0.02, -0.07)
|
||||
|
||||
prev_time = time.monotonic()
|
||||
while True:
|
||||
if robot.right_distance.data_ready:
|
||||
distance = robot.right_distance.distance
|
||||
if robot.left_distance.data_ready:
|
||||
distance = robot.left_distance.distance
|
||||
error = distance_set_point - distance
|
||||
|
||||
current_time = time.monotonic()
|
||||
speed = distance_controller.calculate(error, current_time - prev_time)
|
||||
prev_time = current_time
|
||||
# Control the motors with the speed
|
||||
if abs(speed) < 0.3:
|
||||
if abs(speed) < 0.35:
|
||||
speed = 0
|
||||
uart.write(f"{error},{speed},{distance_controller.integral},{distance_controller.derivative}\n".encode())
|
||||
print(f"{error},{speed},{distance_controller.integral},{distance_controller.derivative}")
|
||||
robot.set_left(speed)
|
||||
robot.set_right(speed)
|
||||
# reset the distance sensor
|
||||
robot.right_distance.clear_interrupt()
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||||
robot.left_distance.clear_interrupt()
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||||
time.sleep(0.05)
|
||||
|
||||
@@ -25,8 +25,7 @@ while True:
|
||||
current_time = time.monotonic()
|
||||
deflection = distance_controller.calculate(error, current_time - prev_time)
|
||||
prev_time = current_time
|
||||
uart.write(f"{error},{deflection},"
|
||||
f"{distance_controller.derivative}\n".encode())
|
||||
uart.write(f"{error},{deflection}\n".encode()) # ,{distance_controller.derivative}
|
||||
if motors_active:
|
||||
robot.set_left(speed - deflection)
|
||||
robot.set_right(speed + deflection)
|
||||
|
||||
Binary file not shown.
@@ -1,5 +1,8 @@
|
||||
import asyncio
|
||||
import board
|
||||
import busio
|
||||
import robot
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
class Settings:
|
||||
speed = 0.7
|
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@@ -10,11 +13,11 @@ async def motor_speed_loop():
|
||||
while True:
|
||||
await asyncio.sleep(Settings.time_interval)
|
||||
left_new, right_new = robot.left_encoder.read(), robot.right_encoder.read()
|
||||
left_speed = robot.ticks_to_m * (left_new - left_last) / Settings.time_interval
|
||||
left_speed = robot.ticks_to_mm(left_new - left_last) / Settings.time_interval
|
||||
left_last = left_new
|
||||
right_speed = robot.ticks_to_m * (right_new - right_last) / Settings.time_interval
|
||||
right_speed = robot.ticks_to_mm(right_new - right_last) / Settings.time_interval
|
||||
right_last = right_new
|
||||
robot.send_line(f"{left_speed:.2f},{right_speed:.2f},0")
|
||||
uart.write(f"{left_speed:.3f},{right_speed:.3f},0\n".encode())
|
||||
|
||||
async def stop_motors_after(seconds):
|
||||
await asyncio.sleep(seconds)
|
||||
@@ -22,26 +25,27 @@ async def stop_motors_after(seconds):
|
||||
|
||||
async def command_handler():
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
if uart.in_waiting:
|
||||
command = uart.readline().decode().strip()
|
||||
if command.startswith("M"):
|
||||
Settings.speed = float(command[1:])
|
||||
elif command.startswith("T"):
|
||||
Settings.time_interval = float(command[1:])
|
||||
elif command == "G":
|
||||
elif command == "O":
|
||||
robot.stop()
|
||||
elif command.startswith("G"):
|
||||
elif command.startswith("O"):
|
||||
await asyncio.sleep(5)
|
||||
asyncio.create_task(
|
||||
stop_motors_after(float(command[1:]))
|
||||
)
|
||||
robot.set_left(Settings.speed)
|
||||
robot.set_right(Settings.speed)
|
||||
asyncio.create_task(stop_motors_after(float(command[1:])))
|
||||
elif command.startswith("?"):
|
||||
robot.send_line(f"M{Settings.speed:.1f}")
|
||||
robot.send_line(f"T{Settings.time_interval:.1f}")
|
||||
uart.write(f"M{Settings.speed:.1f}\n".encode())
|
||||
uart.write(f"T{Settings.time_interval:.1f}\n".encode())
|
||||
await asyncio.sleep(3)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
asyncio.create_task(motor_speed_loop())
|
||||
asyncio.run(command_handler())
|
||||
try:
|
||||
asyncio.create_task(motor_speed_loop())
|
||||
asyncio.run(command_handler())
|
||||
finally:
|
||||
robot.stop()
|
||||
Executable → Regular
+9
-7
@@ -7,22 +7,24 @@ import math
|
||||
|
||||
wheel_diameter_mm = 70
|
||||
wheel_circumference_mm = math.pi * wheel_diameter_mm
|
||||
ticks_per_revolution = 2800
|
||||
gear_ratio = 298
|
||||
encoder_poles = 28
|
||||
ticks_per_revolution = encoder_poles * gear_ratio
|
||||
ticks_to_mm_const = wheel_circumference_mm / ticks_per_revolution
|
||||
|
||||
def ticks_to_mm(ticks):
|
||||
return ticks_to_mm_const * ticks
|
||||
|
||||
motor_A1 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A2 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
motor_B1 = pwmio.PWMOut(board.GP18, frequency=100)
|
||||
motor_B2 = pwmio.PWMOut(board.GP19, frequency=100)
|
||||
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, reversed=True)
|
||||
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
|
||||
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)
|
||||
@@ -0,0 +1,100 @@
|
||||
import asyncio
|
||||
import board
|
||||
import busio
|
||||
import robot
|
||||
import time
|
||||
|
||||
import pid_controller
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
class Settings:
|
||||
# work in ticks only - 1 rpm
|
||||
speed = 0.5
|
||||
time_interval = 0.2
|
||||
motors_enabled = False
|
||||
dead_zone = 0.2
|
||||
|
||||
class SpeedController:
|
||||
def __init__(self, encoder, motor_fn) -> None:
|
||||
self.encoder = encoder
|
||||
self.motor_fn = motor_fn
|
||||
#P1.4,I2.8,D1
|
||||
#P0, I2.5, D1.1
|
||||
self.pid = pid_controller.PIDController(0.1, 1.5, 0)
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.last_ticks = self.encoder.read()
|
||||
self.error = 0
|
||||
self.control_signal = 0
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, dt):
|
||||
current_ticks = self.encoder.read()
|
||||
actual_speed_in_rpm = (current_ticks - self.last_ticks) / (dt * robot.ticks_per_revolution)
|
||||
self.last_ticks = current_ticks
|
||||
# calculate the error
|
||||
self.error = (Settings.speed * Settings.motors_enabled) - actual_speed_in_rpm
|
||||
# calculate the control signal
|
||||
self.control_signal = self.pid.calculate(self.error, dt)
|
||||
self.motor_fn(self.control_signal)
|
||||
|
||||
|
||||
left = SpeedController(robot.left_encoder, robot.set_left)
|
||||
|
||||
async def speed_controller_loop():
|
||||
last_time = time.monotonic()
|
||||
while True:
|
||||
await asyncio.sleep(Settings.time_interval)
|
||||
current_time = time.monotonic()
|
||||
dt = current_time - last_time
|
||||
left.update(dt)
|
||||
last_time = current_time
|
||||
print(f"{dt:.2f}")
|
||||
uart.write(f"{Settings.speed * Settings.motors_enabled}, {left.error:.2f},{left.control_signal:.2f}\n".encode())
|
||||
|
||||
|
||||
async def stop_motors_after(seconds):
|
||||
await asyncio.sleep(seconds)
|
||||
Settings.motors_enabled = False
|
||||
# robot.stop()
|
||||
|
||||
async def command_handler():
|
||||
while True:
|
||||
if uart.in_waiting:
|
||||
command = uart.readline().decode().strip()
|
||||
# PID settings
|
||||
if command.startswith("P"):
|
||||
left.pid.kp = float(command[1:])
|
||||
elif command.startswith("I"):
|
||||
left.pid.ki = float(command[1:])
|
||||
left.pid.reset()
|
||||
elif command.startswith("D"):
|
||||
left.pid.kd = float(command[1:])
|
||||
# Speed settings
|
||||
elif command.startswith("M"):
|
||||
Settings.speed = float(command[1:])
|
||||
elif command.startswith("T"):
|
||||
Settings.time_interval = float(command[1:])
|
||||
# Start/stop commands
|
||||
elif command == "O":
|
||||
Settings.motors_enabled = False
|
||||
elif command.startswith("O"):
|
||||
asyncio.create_task(stop_motors_after(float(command[1:])))
|
||||
Settings.motors_enabled = True
|
||||
left.reset()
|
||||
# Print settings
|
||||
elif command.startswith("?"):
|
||||
uart.write(f"M{Settings.speed:.1f}\n".encode())
|
||||
uart.write(f"T{Settings.time_interval:.1f}\n".encode())
|
||||
uart.write(f"P{left.pid.kp:.2f}:I{left.pid.ki:.2f}:D{left.pid.kd:.2f}\n".encode())
|
||||
await asyncio.sleep(3)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
try:
|
||||
asyncio.create_task(speed_controller_loop())
|
||||
asyncio.create_task(stop_motors_after(10))
|
||||
Settings.motors_enabled = True
|
||||
asyncio.run(command_handler())
|
||||
finally:
|
||||
robot.stop()
|
||||
Executable → Regular
+9
-17
@@ -4,18 +4,16 @@ 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
|
||||
ticks_to_mm_const = wheel_circumference_mm / ticks_per_revolution
|
||||
|
||||
def ticks_to_mm(ticks):
|
||||
return ticks_to_mm_const * ticks
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
@@ -24,6 +22,7 @@ motor_B1 = pwmio.PWMOut(board.GP19, frequency=100)
|
||||
|
||||
right_motor = motor_A1, motor_A2
|
||||
left_motor = motor_B1, motor_B2
|
||||
motor_dead_zone = 0.2
|
||||
|
||||
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21)
|
||||
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27, reversed=True)
|
||||
@@ -33,7 +32,7 @@ i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
|
||||
|
||||
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
|
||||
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
|
||||
imu = adafruit_bno055.BNO055_I2C(i2c0)
|
||||
|
||||
|
||||
def stop():
|
||||
motor_A1.duty_cycle = 0
|
||||
@@ -43,11 +42,12 @@ def stop():
|
||||
|
||||
|
||||
def set_speed(motor, speed):
|
||||
# Swap motor pins if we reverse the speed
|
||||
if abs(speed) < 0.1:
|
||||
# stop completely if in the dead zone
|
||||
if abs(speed) < motor_dead_zone:
|
||||
motor[0].duty_cycle = 0
|
||||
motor[1].duty_cycle = 1
|
||||
motor[1].duty_cycle = 0
|
||||
return
|
||||
# Swap motor pins if we reverse the speed
|
||||
if speed < 0:
|
||||
direction = motor[1], motor[0]
|
||||
speed = -speed
|
||||
@@ -66,11 +66,3 @@ def set_left(speed):
|
||||
|
||||
def set_right(speed):
|
||||
set_speed(right_motor, speed)
|
||||
|
||||
def send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
def check_imu_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
send_line(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
@@ -0,0 +1,103 @@
|
||||
import asyncio
|
||||
import time
|
||||
import robot
|
||||
import pid_controller
|
||||
|
||||
class Settings:
|
||||
speed = 0.17
|
||||
distance = 1
|
||||
time_interval = 0.2
|
||||
motors_enabled = False
|
||||
|
||||
|
||||
class SpeedController:
|
||||
def __init__(self, encoder, motor_fn):
|
||||
self.encoder = encoder
|
||||
self.motor_fn = motor_fn
|
||||
self.pid = pid_controller.PIDController(3, 0, 1)
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.last_ticks = self.encoder.read()
|
||||
self.error = 0
|
||||
self.speed = 0
|
||||
self.actual_speed = 0
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, dt):
|
||||
current_ticks = self.encoder.read()
|
||||
speed_in_ticks = (current_ticks - self.last_ticks) / dt
|
||||
self.last_ticks = current_ticks
|
||||
self.actual_speed = robot.ticks_to_mm(speed_in_ticks) / 1000
|
||||
# calculate the error
|
||||
self.error = (Settings.speed * Settings.motors_enabled) - self.actual_speed
|
||||
# calculate the control signal
|
||||
control_signal = self.pid.calculate(self.error, dt)
|
||||
self.speed += control_signal
|
||||
self.motor_fn(self.speed)
|
||||
|
||||
|
||||
left = SpeedController(robot.left_encoder, robot.set_left)
|
||||
right = SpeedController(robot.right_encoder, robot.set_right)
|
||||
|
||||
|
||||
async def motor_speed_loop():
|
||||
last_time = time.monotonic()
|
||||
while True:
|
||||
await asyncio.sleep(Settings.time_interval)
|
||||
current_time = time.monotonic()
|
||||
dt = current_time - last_time
|
||||
last_time = current_time
|
||||
left.update(dt)
|
||||
right.update(dt)
|
||||
robot.uart.write(f"0, {left.actual_speed:.2f},{Settings.speed:.2f}\n".encode())
|
||||
|
||||
|
||||
async def stop_motors_after(seconds):
|
||||
await asyncio.sleep(seconds)
|
||||
Settings.motors_enabled = False
|
||||
|
||||
|
||||
async def command_handler():
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
# PID settings
|
||||
if command.startswith("P"):
|
||||
left.pid.kp = float(command[1:])
|
||||
right.pid.kp = float(command[1:])
|
||||
elif command.startswith("I"):
|
||||
left.pid.ki = float(command[1:])
|
||||
left.pid.reset()
|
||||
right.pid.ki = float(command[1:])
|
||||
right.pid.reset()
|
||||
elif command.startswith("D"):
|
||||
left.pid.kd = float(command[1:])
|
||||
right.pid.kd = float(command[1:])
|
||||
elif command.startswith("T"):
|
||||
Settings.time_interval = float(command[1:])
|
||||
# Speed settings
|
||||
elif command.startswith("M"):
|
||||
Settings.speed = float(command[1:])
|
||||
# Start/stop commands
|
||||
elif command == "O":
|
||||
Settings.motors_enabled = False
|
||||
elif command.startswith("O"):
|
||||
await asyncio.sleep(5)
|
||||
asyncio.create_task(stop_motors_after(float(command[1:])))
|
||||
Settings.motors_enabled = True
|
||||
left.reset()
|
||||
right.reset()
|
||||
# Print settings
|
||||
elif command.startswith("?"):
|
||||
robot.uart.write(f"M{Settings.speed:.1f}\n".encode())
|
||||
robot.uart.write(f"P{left.pid.kp:.2f}:I{left.pid.ki:.2f}:D{left.pid.kd:.2f}\n".encode())
|
||||
robot.uart.write(f"T{Settings.time_interval:.1f}\n".encode())
|
||||
await asyncio.sleep(3)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
try:
|
||||
asyncio.create_task(motor_speed_loop())
|
||||
asyncio.run(command_handler())
|
||||
finally:
|
||||
robot.stop()
|
||||
Executable → Regular
+5
-4
@@ -4,6 +4,7 @@ import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import busio
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
@@ -12,7 +13,10 @@ 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_const = wheel_circumference_mm / ticks_per_revolution
|
||||
|
||||
def ticks_to_mm(ticks):
|
||||
return ticks_to_mm_const * ticks
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
@@ -59,6 +63,3 @@ def set_left(speed):
|
||||
|
||||
def set_right(speed):
|
||||
set_speed(right_motor, speed)
|
||||
|
||||
def send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
@@ -13,27 +13,26 @@ class SpeedController:
|
||||
def __init__(self, encoder, motor_fn):
|
||||
self.encoder = encoder
|
||||
self.motor_fn = motor_fn
|
||||
self.pid = pid_controller.PIDController(3, 0, 1)
|
||||
self.pid = pid_controller.PIDController(0, 6, 0)
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.last_ticks = self.encoder.read()
|
||||
self.pwm = 0
|
||||
self.actual_speed = 0
|
||||
self.error = 0
|
||||
self.control_signal = 0
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, dt):
|
||||
current_ticks = self.encoder.read()
|
||||
speed_in_ticks = (current_ticks - self.last_ticks) / dt
|
||||
self.last_ticks = current_ticks
|
||||
self.actual_speed = robot.ticks_to_m * speed_in_ticks
|
||||
# calculate the error
|
||||
error = Settings.speed - self.actual_speed
|
||||
speed_in_m_per_s = robot.ticks_to_mm(speed_in_ticks) / 1000
|
||||
# calculate the error
|
||||
self.error = (Settings.speed * Settings.motors_enabled) - speed_in_m_per_s
|
||||
# calculate the control signal
|
||||
control_signal = self.pid.calculate(error, dt)
|
||||
self.pwm += control_signal
|
||||
self.motor_fn(self.pwm * Settings.motors_enabled)
|
||||
|
||||
self.control_signal = self.pid.calculate(self.error, dt)
|
||||
self.motor_fn(self.control_signal)
|
||||
|
||||
|
||||
left = SpeedController(robot.left_encoder, robot.set_left)
|
||||
right = SpeedController(robot.right_encoder, robot.set_right)
|
||||
@@ -48,7 +47,7 @@ async def motor_speed_loop():
|
||||
last_time = current_time
|
||||
left.update(dt)
|
||||
right.update(dt)
|
||||
robot.send_line(f"{left.actual_speed:.2f},{Settings.speed * Settings.motors_enabled:.2f},0")
|
||||
robot.uart.write(f"0, {left.error:.2f},{right.error:.2f}\n".encode())
|
||||
|
||||
|
||||
async def stop_motors_after(seconds):
|
||||
@@ -60,29 +59,42 @@ async def command_handler():
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
if command.startswith("M"):
|
||||
Settings.speed = float(command[1:])
|
||||
# PID settings
|
||||
if command.startswith("P"):
|
||||
left.pid.kp = float(command[1:])
|
||||
right.pid.kp = float(command[1:])
|
||||
elif command.startswith("I"):
|
||||
left.pid.ki = float(command[1:])
|
||||
left.pid.reset()
|
||||
right.pid.ki = float(command[1:])
|
||||
right.pid.reset()
|
||||
elif command.startswith("D"):
|
||||
left.pid.kd = float(command[1:])
|
||||
right.pid.kd = float(command[1:])
|
||||
elif command.startswith("T"):
|
||||
Settings.time_interval = float(command[1:])
|
||||
elif command == "G":
|
||||
# Speed settings
|
||||
elif command.startswith("M"):
|
||||
Settings.speed = float(command[1:])
|
||||
# Start/stop commands
|
||||
elif command == "O":
|
||||
Settings.motors_enabled = False
|
||||
elif command.startswith("G"):
|
||||
elif command.startswith("O"):
|
||||
await asyncio.sleep(5)
|
||||
asyncio.create_task(
|
||||
stop_motors_after(float(command[1:]))
|
||||
)
|
||||
asyncio.create_task(stop_motors_after(float(command[1:])))
|
||||
Settings.motors_enabled = True
|
||||
left.reset()
|
||||
right.reset()
|
||||
# Print settings
|
||||
elif command.startswith("?"):
|
||||
robot.send_line(f"M{Settings.speed:.1f}")
|
||||
robot.send_line(f"T{Settings.time_interval:.1f}")
|
||||
robot.uart.write(f"M{Settings.speed:.1f}\n".encode())
|
||||
robot.uart.write(f"P{left.pid.kp:.2f}:I{left.pid.ki:.2f}:D{left.pid.kd:.2f}\n".encode())
|
||||
robot.uart.write(f"T{Settings.time_interval:.1f}\n".encode())
|
||||
await asyncio.sleep(3)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
try:
|
||||
motors_task = asyncio.create_task(motor_speed_loop())
|
||||
asyncio.create_task(motor_speed_loop())
|
||||
asyncio.run(command_handler())
|
||||
finally:
|
||||
motors_task.cancel()
|
||||
robot.stop()
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
class PIDController:
|
||||
def __init__(self, kp, ki, kd, d_filter_gain=0.1):
|
||||
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):
|
||||
@@ -13,6 +15,10 @@ class PIDController:
|
||||
|
||||
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
|
||||
|
||||
Executable → Regular
+5
-8
@@ -4,6 +4,7 @@ import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import busio
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
@@ -12,7 +13,10 @@ 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_const = wheel_circumference_mm / ticks_per_revolution
|
||||
|
||||
def ticks_to_mm(ticks):
|
||||
return ticks_to_mm_const * ticks
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
@@ -41,10 +45,6 @@ def stop():
|
||||
|
||||
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
|
||||
@@ -63,6 +63,3 @@ def set_left(speed):
|
||||
|
||||
def set_right(speed):
|
||||
set_speed(right_motor, speed)
|
||||
|
||||
def send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
@@ -0,0 +1,102 @@
|
||||
import asyncio
|
||||
import time
|
||||
import robot
|
||||
import pid_controller
|
||||
|
||||
class Settings:
|
||||
speed = 0.17
|
||||
time_interval = 0.2
|
||||
motors_enabled = False
|
||||
|
||||
|
||||
class SpeedController:
|
||||
def __init__(self, encoder, motor_fn):
|
||||
self.encoder = encoder
|
||||
self.motor_fn = motor_fn
|
||||
self.pid = pid_controller.PIDController(3, 0, 1)
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.last_ticks = self.encoder.read()
|
||||
self.error = 0
|
||||
self.speed = 0
|
||||
self.actual_speed = 0
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, dt):
|
||||
current_ticks = self.encoder.read()
|
||||
speed_in_ticks = (current_ticks - self.last_ticks) / dt
|
||||
self.last_ticks = current_ticks
|
||||
self.actual_speed = robot.ticks_to_mm(speed_in_ticks) / 1000
|
||||
# calculate the error
|
||||
self.error = (Settings.speed * Settings.motors_enabled) - self.actual_speed
|
||||
# calculate the control signal
|
||||
control_signal = self.pid.calculate(self.error, dt)
|
||||
self.speed += control_signal
|
||||
self.motor_fn(self.speed)
|
||||
|
||||
|
||||
left = SpeedController(robot.left_encoder, robot.set_left)
|
||||
right = SpeedController(robot.right_encoder, robot.set_right)
|
||||
|
||||
|
||||
async def motor_speed_loop():
|
||||
last_time = time.monotonic()
|
||||
while True:
|
||||
await asyncio.sleep(Settings.time_interval)
|
||||
current_time = time.monotonic()
|
||||
dt = current_time - last_time
|
||||
last_time = current_time
|
||||
left.update(dt)
|
||||
right.update(dt)
|
||||
robot.uart.write(f"0, {left.actual_speed:.2f},{Settings.speed:.2f}\n".encode())
|
||||
|
||||
|
||||
async def stop_motors_after(seconds):
|
||||
await asyncio.sleep(seconds)
|
||||
Settings.motors_enabled = False
|
||||
|
||||
|
||||
async def command_handler():
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
# PID settings
|
||||
if command.startswith("P"):
|
||||
left.pid.kp = float(command[1:])
|
||||
right.pid.kp = float(command[1:])
|
||||
elif command.startswith("I"):
|
||||
left.pid.ki = float(command[1:])
|
||||
left.pid.reset()
|
||||
right.pid.ki = float(command[1:])
|
||||
right.pid.reset()
|
||||
elif command.startswith("D"):
|
||||
left.pid.kd = float(command[1:])
|
||||
right.pid.kd = float(command[1:])
|
||||
elif command.startswith("T"):
|
||||
Settings.time_interval = float(command[1:])
|
||||
# Speed settings
|
||||
elif command.startswith("M"):
|
||||
Settings.speed = float(command[1:])
|
||||
# Start/stop commands
|
||||
elif command == "O":
|
||||
Settings.motors_enabled = False
|
||||
elif command.startswith("O"):
|
||||
await asyncio.sleep(5)
|
||||
asyncio.create_task(stop_motors_after(float(command[1:])))
|
||||
Settings.motors_enabled = True
|
||||
left.reset()
|
||||
right.reset()
|
||||
# Print settings
|
||||
elif command.startswith("?"):
|
||||
robot.uart.write(f"M{Settings.speed:.1f}\n".encode())
|
||||
robot.uart.write(f"P{left.pid.kp:.2f}:I{left.pid.ki:.2f}:D{left.pid.kd:.2f}\n".encode())
|
||||
robot.uart.write(f"T{Settings.time_interval:.1f}\n".encode())
|
||||
await asyncio.sleep(3)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
try:
|
||||
asyncio.create_task(motor_speed_loop())
|
||||
asyncio.run(command_handler())
|
||||
finally:
|
||||
robot.stop()
|
||||
Executable → Regular
+4
-9
@@ -4,6 +4,7 @@ import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import busio
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
@@ -12,9 +13,10 @@ 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
|
||||
ticks_to_mm_const = wheel_circumference_mm / ticks_per_revolution
|
||||
|
||||
def ticks_to_mm(ticks):
|
||||
return ticks_to_mm_const * ticks
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
@@ -43,10 +45,6 @@ def stop():
|
||||
|
||||
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
|
||||
@@ -65,6 +63,3 @@ def set_left(speed):
|
||||
|
||||
def set_right(speed):
|
||||
set_speed(right_motor, speed)
|
||||
|
||||
def send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
@@ -1,84 +0,0 @@
|
||||
import asyncio
|
||||
import time
|
||||
import robot
|
||||
import pid_controller
|
||||
|
||||
|
||||
class DistanceController:
|
||||
def __init__(self, encoder, motor_fn):
|
||||
self.encoder = encoder
|
||||
self.motor_fn = motor_fn
|
||||
self.pid = pid_controller.PIDController(3.25, 0.5, 0.5, d_filter_gain=1)
|
||||
self.start_ticks = self.encoder.read()
|
||||
self.error = 0
|
||||
|
||||
def update(self, dt, expected):
|
||||
self.actual = self.encoder.read() - self.start_ticks
|
||||
# calculate the error
|
||||
self.error = (expected - self.actual) / robot.ticks_per_revolution
|
||||
# calculate the control signal
|
||||
control_signal = self.pid.calculate(self.error, dt)
|
||||
self.motor_fn(control_signal)
|
||||
|
||||
class DistanceTracker:
|
||||
def __init__(self):
|
||||
self.speed = 0.17
|
||||
self.time_interval = 0.2
|
||||
self.start_time = time.monotonic()
|
||||
self.current_position = 0
|
||||
self.total_distance_in_ticks = 0
|
||||
self.total_time = 0.1
|
||||
|
||||
def set_distance(self, new_distance):
|
||||
# add the last travelled distance to the current position
|
||||
self.current_position += self.total_distance_in_ticks
|
||||
# calculate the new additional distance
|
||||
self.total_distance_in_ticks = robot.m_to_ticks * new_distance
|
||||
self.total_time = max(0.1, abs(new_distance / self.speed))
|
||||
self.start_time = time.monotonic()
|
||||
|
||||
async def loop(self):
|
||||
left = DistanceController(robot.left_encoder, robot.set_left)
|
||||
right = DistanceController(robot.right_encoder, robot.set_right)
|
||||
last_time = time.monotonic()
|
||||
while True:
|
||||
await asyncio.sleep(self.time_interval)
|
||||
current_time = time.monotonic()
|
||||
dt = current_time - last_time
|
||||
last_time = current_time
|
||||
elapsed_time = current_time - self.start_time
|
||||
time_proportion = min(1, elapsed_time / self.total_time)
|
||||
expected = time_proportion * self.total_distance_in_ticks + self.current_position
|
||||
left.update(dt, expected)
|
||||
right.update(dt, expected)
|
||||
robot.send_line(f"{expected:.2f},{left.actual:.2f},0")
|
||||
|
||||
|
||||
distance_tracker = DistanceTracker()
|
||||
|
||||
|
||||
async def command_handler():
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
if command.startswith("M"):
|
||||
distance_tracker.speed = float(command[1:])
|
||||
elif command.startswith("T"):
|
||||
distance_tracker.time_interval = float(command[1:])
|
||||
elif command == "G":
|
||||
distance_tracker.set_distance(0)
|
||||
elif command.startswith("G"):
|
||||
await asyncio.sleep(5)
|
||||
distance_tracker.set_distance(float(command[1:]))
|
||||
elif command.startswith("?"):
|
||||
robot.send_line(f"M{distance_tracker.speed:.1f}")
|
||||
robot.send_line(f"T{distance_tracker.time_interval:.1f}")
|
||||
await asyncio.sleep(3)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
try:
|
||||
motors_task = asyncio.create_task(distance_tracker.loop())
|
||||
asyncio.run(command_handler())
|
||||
finally:
|
||||
motors_task.cancel()
|
||||
robot.stop()
|
||||
@@ -1,21 +0,0 @@
|
||||
class PIDController:
|
||||
def __init__(self, kp, ki, kd, d_filter_gain=0.1):
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
self.d_filter_gain = d_filter_gain
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.integral = 0
|
||||
self.error_prev = 0
|
||||
self.derivative = 0
|
||||
|
||||
def calculate(self, error, dt):
|
||||
self.integral += error * dt
|
||||
# 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
|
||||
@@ -1,34 +0,0 @@
|
||||
import time
|
||||
import board
|
||||
import busio
|
||||
import robot
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
speed = 0.7
|
||||
stop_time = 0
|
||||
|
||||
while True:
|
||||
current_time = time.monotonic()
|
||||
if current_time > stop_time:
|
||||
robot.set_left(0)
|
||||
robot.set_right(0)
|
||||
left_value = robot.left_encoder.read()
|
||||
right_value = robot.right_encoder.read()
|
||||
uart.write(f"{left_value:.3f},{right_value:.3f}\n".encode() )
|
||||
time.sleep(0.02)
|
||||
if uart.in_waiting:
|
||||
command = uart.readline().decode().strip()
|
||||
if command.startswith("M"):
|
||||
speed = float(command[1:])
|
||||
elif command == "O":
|
||||
stop_time = 0
|
||||
robot.set_left(0)
|
||||
robot.set_right(0)
|
||||
elif command.startswith("O"):
|
||||
stop_time = float(command[1:]) + current_time
|
||||
robot.set_left(speed)
|
||||
robot.set_right(speed)
|
||||
elif command.startswith("?"):
|
||||
uart.write(f"M{speed:.1f}\n".encode())
|
||||
time.sleep(3)
|
||||
@@ -1,8 +0,0 @@
|
||||
class LPF:
|
||||
"""Low pass filter."""
|
||||
def __init__(self, alpha):
|
||||
self.alpha = alpha
|
||||
self.last = 0
|
||||
def update(self, value):
|
||||
self.last = self.alpha * value + (1 - self.alpha) * self.last
|
||||
return self.last
|
||||
@@ -1,20 +0,0 @@
|
||||
class PIDController:
|
||||
def __init__(self, kp, ki, kd, d_filter_gain=0.1):
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
self.d_filter_gain = d_filter_gain
|
||||
|
||||
self.integral = 0
|
||||
self.error_prev = 0
|
||||
self.derivative = 0
|
||||
|
||||
def calculate(self, error, dt):
|
||||
self.integral += error * dt
|
||||
|
||||
# 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
|
||||
@@ -1,8 +0,0 @@
|
||||
import adafruit_bno055
|
||||
import board
|
||||
import busio
|
||||
|
||||
i2c = busio.I2C(sda=board.GP0, scl=board.GP1)
|
||||
sensor = adafruit_bno055.BNO055_I2C(i2c)
|
||||
|
||||
print("Temperature: {} degrees C".format(sensor.temperature))
|
||||
@@ -1,24 +0,0 @@
|
||||
import adafruit_bno055
|
||||
import board
|
||||
import busio
|
||||
import time
|
||||
|
||||
i2c = busio.I2C(sda=board.GP0, scl=board.GP1)
|
||||
imu = adafruit_bno055.BNO055_I2C(i2c)
|
||||
|
||||
def check_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
print(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
|
||||
while not check_status():
|
||||
time.sleep(0.1)
|
||||
|
||||
while True:
|
||||
data = {"temperature": imu.temperature,
|
||||
"acceleration": imu.acceleration,
|
||||
"magnetic": imu.magnetic,
|
||||
"gyro": imu.gyro,
|
||||
"euler": imu.euler}
|
||||
print(data)
|
||||
time.sleep(0.1)
|
||||
@@ -1,52 +0,0 @@
|
||||
import robot
|
||||
import pid_controller
|
||||
import asyncio
|
||||
import time
|
||||
|
||||
# PID Loop control for IMU face north
|
||||
class FaceNorthController:
|
||||
def __init__(self):
|
||||
self.pid = pid_controller.PIDController(0.01, 0.010, 0)
|
||||
self.target = 0
|
||||
|
||||
def update(self, dt, angle):
|
||||
error = self.target - angle
|
||||
if error > 180:
|
||||
error -= 360
|
||||
elif error < -180:
|
||||
error += 360
|
||||
control_signal = self.pid.calculate(error, dt)
|
||||
robot.set_left(control_signal)
|
||||
robot.set_right(-control_signal)
|
||||
|
||||
async def control_loop():
|
||||
controller = FaceNorthController()
|
||||
last_time = time.monotonic()
|
||||
while True:
|
||||
await asyncio.sleep(0.1)
|
||||
next_time = time.monotonic()
|
||||
dt = next_time - last_time
|
||||
last_time = next_time
|
||||
angle = robot.imu.euler[0]
|
||||
|
||||
controller.update(dt, angle)
|
||||
robot.send_line(f"{angle}, 0")
|
||||
|
||||
|
||||
async def main():
|
||||
while not robot.check_imu_status():
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
robot.send_line("Ready to go!")
|
||||
# Wait for start signal
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
if command == "start":
|
||||
break
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
await control_loop()
|
||||
|
||||
print("Starting")
|
||||
asyncio.run(main())
|
||||
@@ -1,59 +0,0 @@
|
||||
import robot
|
||||
import pid_controller
|
||||
import asyncio
|
||||
import time
|
||||
|
||||
class IMUTurnController:
|
||||
def __init__(self):
|
||||
self.pid = pid_controller.PIDController(0.01, 0.010, 0)
|
||||
self.target = 0
|
||||
|
||||
def update(self, dt, angle):
|
||||
error = self.target - angle
|
||||
if error > 180:
|
||||
error -= 360
|
||||
elif error < -180:
|
||||
error += 360
|
||||
control_signal = self.pid.calculate(error, dt)
|
||||
robot.set_left(control_signal)
|
||||
robot.set_right(-control_signal)
|
||||
|
||||
|
||||
async def command_handler(turn_controller):
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
command = robot.uart.readline().decode().strip()
|
||||
if command.startswith("-"):
|
||||
turn_controller.target -= int(command.lstrip('-'))
|
||||
elif command.startswith("+"):
|
||||
turn_controller.target += int(command.lstrip('+'))
|
||||
elif command.isdigit():
|
||||
turn_controller.target += int(command)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
|
||||
# control loop
|
||||
async def control_loop():
|
||||
controller = IMUTurnController()
|
||||
controller.target = robot.imu.euler[0]
|
||||
asyncio.create_task(command_handler(controller))
|
||||
last_time = time.monotonic()
|
||||
while True:
|
||||
await asyncio.sleep(0.1)
|
||||
next_time = time.monotonic()
|
||||
dt = next_time - last_time
|
||||
last_time = next_time
|
||||
angle = robot.imu.euler[0]
|
||||
|
||||
controller.update(dt, angle)
|
||||
robot.send_line(f"{angle}, 0")
|
||||
|
||||
|
||||
async def main():
|
||||
while not robot.check_imu_status():
|
||||
await asyncio.sleep(0.1)
|
||||
robot.send_line("Ready to go!")
|
||||
|
||||
await control_loop()
|
||||
|
||||
asyncio.run(main())
|
||||
@@ -1,76 +0,0 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import adafruit_bno055
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
wheel_diameter_mm = 70
|
||||
wheel_circumference_mm = math.pi * wheel_diameter_mm
|
||||
gear_ratio = 298
|
||||
encoder_poles = 28
|
||||
ticks_per_revolution = encoder_poles * gear_ratio
|
||||
ticks_to_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)
|
||||
|
||||
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 send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
def check_imu_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
send_line(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,128 @@
|
||||
import time
|
||||
import json
|
||||
|
||||
from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
|
||||
from adafruit_wsgi.wsgi_app import WSGIApp
|
||||
|
||||
import robot
|
||||
import robot_wifi
|
||||
import pid
|
||||
|
||||
|
||||
class AllSensorsApp:
|
||||
def __init__(self):
|
||||
self.wifi = None
|
||||
self.server = None
|
||||
|
||||
self.intended_speed = 0.9
|
||||
self.speed_to_encoder_factor = 1/5000
|
||||
self.left_speed_pid = pid.PID(0, -0.7, 0, self.intended_speed)
|
||||
self.right_speed_pid = pid.PID(0, -0.7, 0, self.intended_speed)
|
||||
self.start_time = time.monotonic()
|
||||
self.last_time = self.start_time
|
||||
|
||||
self.left_dist = 0
|
||||
self.right_dist = 0
|
||||
self.left_pid_output = 0
|
||||
self.right_pid_output = 0
|
||||
self.left_speed = 0
|
||||
self.right_speed = 0
|
||||
|
||||
# def setup_robot(self):
|
||||
# robot.left_distance.distance_mode = 1
|
||||
# robot.right_distance.distance_mode = 1
|
||||
|
||||
def setup_wifi(self, app):
|
||||
print("Setting up wifi.")
|
||||
self.wifi, esp = robot_wifi.connect_to_wifi()
|
||||
self.server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
|
||||
adafruit_esp32spi_wsgiserver.set_interface(esp)
|
||||
print("Starting server")
|
||||
|
||||
self.server.start()
|
||||
ip_int = ".".join(str(int(n)) for n in esp.ip_address)
|
||||
print(f"IP Address is {ip_int}")
|
||||
|
||||
def data(self, request):
|
||||
imu_data = robot.imu.euler
|
||||
|
||||
return (
|
||||
200,
|
||||
[("Content-Type", "application/json")],
|
||||
[
|
||||
json.dumps(
|
||||
{
|
||||
"left_speed_pid": self.left_pid_output,
|
||||
"right_speed_pid": self.right_pid_output,
|
||||
"imu_z": imu_data[2],
|
||||
"left_speed": self.left_speed,
|
||||
"right_speed": self.right_speed,
|
||||
"left_distance": self.left_dist,
|
||||
"right_distance": self.right_dist,
|
||||
"time": self.last_time - self.start_time,
|
||||
}
|
||||
)
|
||||
],
|
||||
)
|
||||
|
||||
def index(self, request):
|
||||
# serve the live graph
|
||||
with open("graphing.html") as fd:
|
||||
return 200, [("Content-Type", "text/html")], [fd.read()]
|
||||
|
||||
def movement_update(self):
|
||||
# calculate time delta
|
||||
new_time = time.monotonic()
|
||||
time_delta = new_time - self.last_time
|
||||
self.last_time = new_time
|
||||
|
||||
self.left_speed = robot.left_encoder.get_speed(time_delta) * self.speed_to_encoder_factor
|
||||
self.right_speed = robot.right_encoder.get_speed(time_delta) * self.speed_to_encoder_factor
|
||||
|
||||
self.left_pid_output = self.left_speed_pid.update(self.left_speed, time_delta)
|
||||
self.right_pid_output = self.right_speed_pid.update(self.right_speed, time_delta)
|
||||
|
||||
# robot.set_left(self.left_pid_output)
|
||||
# robot.set_right(self.right_pid_output)
|
||||
|
||||
# # do we have data
|
||||
# if robot.left_distance.data_ready:
|
||||
# self.left_dist = robot.left_distance.distance
|
||||
# self.right_dist = robot.right_distance.distance
|
||||
|
||||
# # reset and loop
|
||||
# robot.left_distance.clear_interrupt()
|
||||
# robot.right_distance.clear_interrupt()
|
||||
|
||||
def main_loop(self):
|
||||
# robot.left_distance.start_ranging()
|
||||
# robot.right_distance.start_ranging()
|
||||
while True:
|
||||
try:
|
||||
self.movement_update()
|
||||
self.server.update_poll()
|
||||
except RuntimeError as e:
|
||||
print(f"Server poll error: {type(e)}, {e}")
|
||||
robot.stop()
|
||||
print(f"Resetting ESP...")
|
||||
self.wifi.reset()
|
||||
print("Reset complete.")
|
||||
|
||||
def start(self):
|
||||
app = WSGIApp()
|
||||
app.route("/")(self.index)
|
||||
app.route("/data")(self.data)
|
||||
print("Starting")
|
||||
try:
|
||||
# self.setup_robot()
|
||||
self.setup_wifi(app)
|
||||
self.main_loop()
|
||||
finally:
|
||||
robot.stop()
|
||||
# robot.left_distance.clear_interrupt()
|
||||
# robot.left_distance.stop_ranging()
|
||||
# robot.right_distance.clear_interrupt()
|
||||
# robot.right_distance.stop_ranging()
|
||||
|
||||
|
||||
AllSensorsApp().start()
|
||||
@@ -0,0 +1 @@
|
||||
import all_sensors_test
|
||||
@@ -0,0 +1,64 @@
|
||||
<!DOCTYPE html>
|
||||
<b>Dist</b>
|
||||
<div id="dist"><svg></svg></div>
|
||||
<b>Speed</b>
|
||||
<div id="speed"><svg></svg></div>
|
||||
<b>Imu</b>
|
||||
<div id="imu"><svg></svg></div>
|
||||
|
||||
<script type="module">
|
||||
import * as d3_module from "https://cdn.jsdelivr.net/npm/d3@7";
|
||||
import * as Plot from "https://cdn.skypack.dev/@observablehq/plot@0.4";
|
||||
|
||||
var current_dataset = [];
|
||||
while (true) {
|
||||
// fetch new data
|
||||
await d3.json("/data").then(function(data) {
|
||||
// then append to list
|
||||
current_dataset.push(data);
|
||||
// Map to a 10s (n S) sliding window
|
||||
// ie find the most recent value, then reduce/filter anything more than 10s earlier than that.
|
||||
const most_recent_time = current_dataset[current_dataset.length - 1].time;
|
||||
const window_start = Math.max(0, most_recent_time - 10);
|
||||
// filter the list
|
||||
current_dataset = current_dataset.filter(
|
||||
value => value.time >= window_start
|
||||
);
|
||||
// render dist graph
|
||||
var dist_graph = Plot.plot({
|
||||
x: { grid: true},
|
||||
y: { grid: true},
|
||||
marks: [
|
||||
Plot.line(current_dataset, {x: "time", y: "left_distance", stroke: "red"}),
|
||||
Plot.line(current_dataset, {x: "time", y: "right_distance", stroke: "blue"}),
|
||||
]
|
||||
});
|
||||
var graphNode = document.getElementById("dist");
|
||||
graphNode.replaceChild(dist_graph, graphNode.firstChild);
|
||||
// render speed graph
|
||||
var speed_graph = Plot.plot({
|
||||
x: { grid: true},
|
||||
y: { grid: true},
|
||||
marks: [
|
||||
Plot.line(current_dataset, {x: "time", y: "left_speed", stroke: "red"}),
|
||||
Plot.line(current_dataset, {x: "time", y: "right_speed", stroke: "blue"}),
|
||||
Plot.line(current_dataset, {x: "time", y: "left_speed_pid", stroke: "orange"}),
|
||||
Plot.line(current_dataset, {x: "time", y: "right_speed_pid", stroke: "green"}),
|
||||
]
|
||||
});
|
||||
var graphNode = document.getElementById("speed");
|
||||
graphNode.replaceChild(speed_graph, graphNode.firstChild);
|
||||
// render imu graph
|
||||
var speed_graph = Plot.plot({
|
||||
x: { grid: true},
|
||||
y: { grid: true},
|
||||
marks: [
|
||||
Plot.line(current_dataset, {x: "time", y: "imu_z", stroke: "red"}),
|
||||
]
|
||||
});
|
||||
var graphNode = document.getElementById("imu");
|
||||
graphNode.replaceChild(speed_graph, graphNode.firstChild);
|
||||
});
|
||||
}
|
||||
// }
|
||||
</script>
|
||||
@@ -0,0 +1,39 @@
|
||||
class PID:
|
||||
def __init__(self, proportional_k, integral_k, differential_k, set_point):
|
||||
self.proportional_k = proportional_k
|
||||
self.integral_k = integral_k
|
||||
self.differential_k = differential_k
|
||||
self.set_point = set_point
|
||||
|
||||
self.error_sum = 0
|
||||
self.last_value = 0
|
||||
self.min_output = -1
|
||||
self.max_output = 1
|
||||
|
||||
self.dead_zone = 0.3
|
||||
|
||||
def update(self, measurement, time_delta):
|
||||
error_value = measurement - self.set_point
|
||||
proportional = error_value * self.proportional_k
|
||||
|
||||
# calculate integral
|
||||
self.error_sum += error_value * time_delta
|
||||
# clamp it
|
||||
self.error_sum = min(self.max_output, self.error_sum)
|
||||
self.error_sum = max(self.min_output, self.error_sum)
|
||||
|
||||
integral = self.error_sum * self.integral_k
|
||||
|
||||
differentiated_error = (error_value - self.last_value) / time_delta
|
||||
differential = differentiated_error * self.differential_k
|
||||
self.last_value = error_value
|
||||
|
||||
output = proportional + integral + differential
|
||||
# clamp output
|
||||
if abs(output) < self.dead_zone:
|
||||
output = 0
|
||||
else:
|
||||
output = min(self.max_output, output)
|
||||
output = max(self.min_output, output)
|
||||
|
||||
return output
|
||||
+7
@@ -67,6 +67,7 @@ class QuadratureEncoder:
|
||||
)
|
||||
self.reversed = reversed
|
||||
self._buffer = array.array("i", [0])
|
||||
self.previous_reading = 0
|
||||
|
||||
def read(self):
|
||||
while self.sm.in_waiting:
|
||||
@@ -75,3 +76,9 @@ class QuadratureEncoder:
|
||||
return -self._buffer[0]
|
||||
else:
|
||||
return self._buffer[0]
|
||||
|
||||
def get_speed(self, delta_time):
|
||||
new_read = self.read()
|
||||
distance = new_read - self.previous_reading
|
||||
self.previous_reading = new_read
|
||||
return distance / delta_time
|
||||
+54
@@ -0,0 +1,54 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import adafruit_bno055
|
||||
|
||||
|
||||
motor_A1 = pwmio.PWMOut(board.GP17)
|
||||
motor_A2 = pwmio.PWMOut(board.GP16)
|
||||
motor_B1 = pwmio.PWMOut(board.GP18)
|
||||
motor_B2 = pwmio.PWMOut(board.GP19)
|
||||
|
||||
right_motor = motor_A1, motor_A2
|
||||
left_motor = motor_B1, motor_B2
|
||||
|
||||
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
|
||||
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
|
||||
|
||||
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
|
||||
# i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
|
||||
|
||||
# right_distance = adafruit_vl53l1x.VL53L1X(i2c0)
|
||||
# left_distance = adafruit_vl53l1x.VL53L1X(i2c1)
|
||||
|
||||
imu = adafruit_bno055.BNO055_I2C(i2c0)
|
||||
|
||||
def stop():
|
||||
motor_A1.duty_cycle = 0
|
||||
motor_A2.duty_cycle = 0
|
||||
motor_B1.duty_cycle = 0
|
||||
motor_B2.duty_cycle = 0
|
||||
|
||||
|
||||
def set_speed(motor, speed):
|
||||
# Swap motor pins if we reverse the speed
|
||||
if 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)
|
||||
@@ -0,0 +1,31 @@
|
||||
import board
|
||||
import busio
|
||||
from digitalio import DigitalInOut
|
||||
from adafruit_esp32spi import adafruit_esp32spi
|
||||
from adafruit_esp32spi import adafruit_esp32spi_wifimanager
|
||||
|
||||
try:
|
||||
from secrets import secrets
|
||||
except ImportError:
|
||||
print("WiFi secrets are kept in secrets.py, please add them there!")
|
||||
raise
|
||||
|
||||
|
||||
def connect_to_wifi():
|
||||
esp32_cs = DigitalInOut(board.GP10)
|
||||
esp32_ready = DigitalInOut(board.GP9)
|
||||
esp32_reset = DigitalInOut(board.GP8)
|
||||
|
||||
status_led = DigitalInOut(board.LED)
|
||||
status_led.switch_to_output()
|
||||
|
||||
|
||||
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
|
||||
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset)
|
||||
esp.reset()
|
||||
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
|
||||
wifi.connect()
|
||||
|
||||
status_led.value = 1
|
||||
|
||||
return wifi, esp
|
||||
@@ -0,0 +1 @@
|
||||
import all_sensors_test
|
||||
@@ -0,0 +1,42 @@
|
||||
<!DOCTYPE html>
|
||||
<b>value</b>
|
||||
<div id="value"><svg></svg></div>
|
||||
|
||||
<script type="module">
|
||||
import * as d3_module from "https://cdn.jsdelivr.net/npm/d3@7";
|
||||
import * as Plot from "https://cdn.skypack.dev/@observablehq/plot@0.4";
|
||||
|
||||
var current_dataset = [];
|
||||
while (true) {
|
||||
try {
|
||||
const controller = new AbortController();
|
||||
const timeoutId = setTimeout(() => controller.abort(), 1000);
|
||||
// fetch new data
|
||||
await d3.json("/data", {signal: controller.signal}).then(function(data) {
|
||||
// then append to list
|
||||
current_dataset.push(data);
|
||||
// Map to a 10s (n S) sliding window
|
||||
// ie find the most recent value, then reduce/filter anything more than 10s earlier than that.
|
||||
const most_recent_time = current_dataset[current_dataset.length - 1].time;
|
||||
const window_start = Math.max(0, most_recent_time - 10);
|
||||
// filter the list
|
||||
current_dataset = current_dataset.filter(
|
||||
value => value.time >= window_start
|
||||
);
|
||||
// render dist graph
|
||||
var value_graph = Plot.plot({
|
||||
x: { grid: true},
|
||||
y: { grid: true},
|
||||
marks: [
|
||||
Plot.line(current_dataset, {x: "time", y: "value", stroke: "red"}),
|
||||
]
|
||||
});
|
||||
var graphNode = document.getElementById("value");
|
||||
graphNode.replaceChild(value_graph, graphNode.firstChild);
|
||||
});
|
||||
clearTimeout(timeoutId);
|
||||
} catch (error) {
|
||||
console.log(error.name === 'AbortError');
|
||||
}
|
||||
}
|
||||
</script>
|
||||
@@ -0,0 +1,93 @@
|
||||
import time
|
||||
import json
|
||||
import traceback
|
||||
|
||||
from adafruit_esp32spi import adafruit_esp32spi_wsgiserver
|
||||
from adafruit_wsgi.wsgi_app import WSGIApp
|
||||
|
||||
import robot_wifi
|
||||
import random
|
||||
|
||||
|
||||
class RandomWalkSensors:
|
||||
def __init__(self):
|
||||
self.wifi = None
|
||||
self.server = None
|
||||
self.last_value = 0
|
||||
|
||||
self.start_time = time.monotonic()
|
||||
self.last_time = self.start_time
|
||||
# self.app = None
|
||||
|
||||
def setup_server(self, esp, app):
|
||||
self.server = adafruit_esp32spi_wsgiserver.WSGIServer(80, application=app)
|
||||
adafruit_esp32spi_wsgiserver.set_interface(esp)
|
||||
print("Starting server")
|
||||
self.server.start()
|
||||
|
||||
def reconnect(self):
|
||||
print(f"{time.monotonic()} Resetting esp... ")
|
||||
self.wifi.reset()
|
||||
print(f"{time.monotonic()} Reconnecting wifi... ")
|
||||
self.wifi.connect()
|
||||
print(f"{time.monotonic()} starting server...")
|
||||
self.server.start()
|
||||
print(f"{time.monotonic()} started server...")
|
||||
|
||||
def data(self, request):
|
||||
|
||||
return (
|
||||
200,
|
||||
[("Content-Type", "application/json")],
|
||||
[
|
||||
json.dumps(
|
||||
{
|
||||
"value": self.last_value,
|
||||
"time": self.last_time - self.start_time,
|
||||
}
|
||||
)
|
||||
],
|
||||
)
|
||||
|
||||
def index(self, request):
|
||||
# serve the live graph
|
||||
with open("graphing.html") as fd:
|
||||
return 200, [("Content-Type", "text/html")], [fd.read()]
|
||||
|
||||
def update(self):
|
||||
# calculate time delta
|
||||
new_time = time.monotonic()
|
||||
time_delta = new_time - self.last_time
|
||||
self.last_time = new_time
|
||||
|
||||
self.last_value += random.randint(-100, 100) * 0.01 * time_delta
|
||||
if self.last_value > 1:
|
||||
self.last_value = 1
|
||||
if self.last_value < -1:
|
||||
self.last_value = -1
|
||||
|
||||
def main_loop(self):
|
||||
while True:
|
||||
try:
|
||||
self.update()
|
||||
self.server.update_poll()
|
||||
except RuntimeError as e:
|
||||
traceback.print_exception(BaseException, e, e.__traceback__)
|
||||
if not "Failed to send" in str(e):
|
||||
self.reconnect()
|
||||
|
||||
def start(self):
|
||||
app = WSGIApp()
|
||||
app.route("/")(self.index)
|
||||
app.route("/data")(self.data)
|
||||
print("Starting")
|
||||
self.wifi, esp, spi = robot_wifi.connect_to_wifi()
|
||||
try:
|
||||
self.setup_server(esp, app)
|
||||
self.main_loop()
|
||||
finally:
|
||||
spi.unlock()
|
||||
spi.deinit()
|
||||
|
||||
|
||||
RandomWalkSensors().start()
|
||||
@@ -0,0 +1,38 @@
|
||||
import board
|
||||
import busio
|
||||
from digitalio import DigitalInOut
|
||||
from adafruit_esp32spi import adafruit_esp32spi
|
||||
from adafruit_esp32spi import adafruit_esp32spi_wifimanager
|
||||
|
||||
try:
|
||||
from secrets import secrets
|
||||
except ImportError:
|
||||
print("WiFi secrets are kept in secrets.py, please add them there!")
|
||||
raise
|
||||
|
||||
|
||||
def connect_to_wifi():
|
||||
esp32_cs = DigitalInOut(board.GP10)
|
||||
esp32_ready = DigitalInOut(board.GP9)
|
||||
esp32_reset = DigitalInOut(board.GP8)
|
||||
|
||||
status_led = DigitalInOut(board.LED)
|
||||
status_led.switch_to_output()
|
||||
print("Setting up wifi.")
|
||||
spi = busio.SPI(board.GP14, MOSI=board.GP11, MISO=board.GP12)
|
||||
print("SPI Configure")
|
||||
esp = adafruit_esp32spi.ESP_SPIcontrol(spi, esp32_cs, esp32_ready, esp32_reset,
|
||||
baudrate=300*1000
|
||||
)
|
||||
esp.ready_timeout = 1
|
||||
|
||||
print("Firmware vers.", esp.firmware_version)
|
||||
|
||||
wifi = adafruit_esp32spi_wifimanager.ESPSPI_WiFiManager(esp, secrets)
|
||||
wifi.connect()
|
||||
ip_int = ".".join(str(int(n)) for n in esp.ip_address)
|
||||
print(f"IP Address is {ip_int}")
|
||||
|
||||
status_led.value = 1
|
||||
|
||||
return wifi, esp, spi
|
||||
@@ -1,15 +0,0 @@
|
||||
"""Represent the lines of the arena"""
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
cutout_width = 500
|
||||
cutout_height = 500
|
||||
|
||||
boundary_lines = [
|
||||
[(0,0), (0, height)],
|
||||
[(0, height), (width, height)],
|
||||
[(width, height), (width, cutout_height)],
|
||||
[(width, cutout_height), (width - cutout_width, cutout_height)],
|
||||
[(width - cutout_width, cutout_height), (width - cutout_width, 0)],
|
||||
[(width - cutout_width, 0), (0, 0)],
|
||||
]
|
||||
@@ -1,7 +0,0 @@
|
||||
from matplotlib import pyplot as plt
|
||||
|
||||
import arena
|
||||
|
||||
for line in arena.boundary_lines:
|
||||
plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black")
|
||||
plt.show()
|
||||
-605
@@ -1,605 +0,0 @@
|
||||
[[package]]
|
||||
name = "black"
|
||||
version = "22.12.0"
|
||||
description = "The uncompromising code formatter."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.dependencies]
|
||||
click = ">=8.0.0"
|
||||
mypy-extensions = ">=0.4.3"
|
||||
pathspec = ">=0.9.0"
|
||||
platformdirs = ">=2"
|
||||
tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
|
||||
typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
|
||||
|
||||
[package.extras]
|
||||
colorama = ["colorama (>=0.4.3)"]
|
||||
d = ["aiohttp (>=3.7.4)"]
|
||||
jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
|
||||
uvloop = ["uvloop (>=0.15.2)"]
|
||||
|
||||
[[package]]
|
||||
name = "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 = "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 = "1.24.0"
|
||||
description = "Fundamental package for array computing in Python"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
|
||||
[[package]]
|
||||
name = "packaging"
|
||||
version = "22.0"
|
||||
description = "Core utilities for Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "pathspec"
|
||||
version = "0.10.3"
|
||||
description = "Utility library for gitignore style pattern matching of file paths."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "Pillow"
|
||||
version = "9.3.0"
|
||||
description = "Python Imaging Library (Fork)"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
|
||||
tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
|
||||
|
||||
[[package]]
|
||||
name = "platformdirs"
|
||||
version = "2.6.0"
|
||||
description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
|
||||
test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
|
||||
|
||||
[[package]]
|
||||
name = "pyparsing"
|
||||
version = "3.0.9"
|
||||
description = "pyparsing module - Classes and methods to define and execute parsing grammars"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.6.8"
|
||||
|
||||
[package.extras]
|
||||
diagrams = ["jinja2", "railroad-diagrams"]
|
||||
|
||||
[[package]]
|
||||
name = "python-dateutil"
|
||||
version = "2.8.2"
|
||||
description = "Extensions to the standard Python datetime module"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
|
||||
|
||||
[package.dependencies]
|
||||
six = ">=1.5"
|
||||
|
||||
[[package]]
|
||||
name = "setuptools"
|
||||
version = "65.6.3"
|
||||
description = "Easily download, build, install, upgrade, and uninstall Python packages"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
|
||||
testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
|
||||
testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
|
||||
|
||||
[[package]]
|
||||
name = "setuptools-scm"
|
||||
version = "7.1.0"
|
||||
description = "the blessed package to manage your versions by scm tags"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[package.dependencies]
|
||||
packaging = ">=20.0"
|
||||
setuptools = "*"
|
||||
tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
|
||||
typing-extensions = "*"
|
||||
|
||||
[package.extras]
|
||||
test = ["pytest (>=6.2)", "virtualenv (>20)"]
|
||||
toml = ["setuptools (>=42)"]
|
||||
|
||||
[[package]]
|
||||
name = "six"
|
||||
version = "1.16.0"
|
||||
description = "Python 2 and 3 compatibility utilities"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
|
||||
|
||||
[[package]]
|
||||
name = "tomli"
|
||||
version = "2.0.1"
|
||||
description = "A lil' TOML parser"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[[package]]
|
||||
name = "typing-extensions"
|
||||
version = "4.4.0"
|
||||
description = "Backported and Experimental Type Hints for Python 3.7+"
|
||||
category = "main"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
[metadata]
|
||||
lock-version = "1.1"
|
||||
python-versions = "^3.9"
|
||||
content-hash = "332b019acb19471248c2fcc2f679a323913350e27f5a3500b00b3d396106b0fc"
|
||||
|
||||
[metadata.files]
|
||||
black = [
|
||||
{file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
|
||||
{file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
|
||||
{file = "black-22.12.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d30b212bffeb1e252b31dd269dfae69dd17e06d92b87ad26e23890f3efea366f"},
|
||||
{file = "black-22.12.0-cp311-cp311-win_amd64.whl", hash = "sha256:7412e75863aa5c5411886804678b7d083c7c28421210180d67dfd8cf1221e1f4"},
|
||||
{file = "black-22.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c116eed0efb9ff870ded8b62fe9f28dd61ef6e9ddd28d83d7d264a38417dcee2"},
|
||||
{file = "black-22.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:1f58cbe16dfe8c12b7434e50ff889fa479072096d79f0a7f25e4ab8e94cd8350"},
|
||||
{file = "black-22.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77d86c9f3db9b1bf6761244bc0b3572a546f5fe37917a044e02f3166d5aafa7d"},
|
||||
{file = "black-22.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:82d9fe8fee3401e02e79767016b4907820a7dc28d70d137eb397b92ef3cc5bfc"},
|
||||
{file = "black-22.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:101c69b23df9b44247bd88e1d7e90154336ac4992502d4197bdac35dd7ee3320"},
|
||||
{file = "black-22.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:559c7a1ba9a006226f09e4916060982fd27334ae1998e7a38b3f33a37f7a2148"},
|
||||
{file = "black-22.12.0-py3-none-any.whl", hash = "sha256:436cc9167dd28040ad90d3b404aec22cedf24a6e4d7de221bec2730ec0c97bcf"},
|
||||
{file = "black-22.12.0.tar.gz", hash = "sha256:229351e5a18ca30f447bf724d007f890f97e13af070bb6ad4c0a441cd7596a2f"},
|
||||
]
|
||||
click = [
|
||||
{file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
|
||||
{file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
|
||||
]
|
||||
colorama = [
|
||||
{file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
|
||||
{file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
|
||||
]
|
||||
contourpy = [
|
||||
{file = "contourpy-1.0.6-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:613c665529899b5d9fade7e5d1760111a0b011231277a0d36c49f0d3d6914bd6"},
|
||||
{file = "contourpy-1.0.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78ced51807ccb2f45d4ea73aca339756d75d021069604c2fccd05390dc3c28eb"},
|
||||
{file = "contourpy-1.0.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b3b1bd7577c530eaf9d2bc52d1a93fef50ac516a8b1062c3d1b9bcec9ebe329b"},
|
||||
{file = "contourpy-1.0.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8834c14b8c3dd849005e06703469db9bf96ba2d66a3f88ecc539c9a8982e0ee"},
|
||||
{file = "contourpy-1.0.6-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f4052a8a4926d4468416fc7d4b2a7b2a3e35f25b39f4061a7e2a3a2748c4fc48"},
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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-2.6.0-py3-none-any.whl", hash = "sha256:1a89a12377800c81983db6be069ec068eee989748799b946cce2a6e80dcc54ca"},
|
||||
{file = "platformdirs-2.6.0.tar.gz", hash = "sha256:b46ffafa316e6b83b47489d240ce17173f123a9b9c83282141c3daf26ad9ac2e"},
|
||||
]
|
||||
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-65.6.3-py3-none-any.whl", hash = "sha256:57f6f22bde4e042978bcd50176fdb381d7c21a9efa4041202288d3737a0c6a54"},
|
||||
{file = "setuptools-65.6.3.tar.gz", hash = "sha256:a7620757bf984b58deaf32fc8a4577a9bbc0850cf92c20e1ce41c38c19e5fb75"},
|
||||
]
|
||||
setuptools-scm = [
|
||||
{file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
|
||||
{file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
|
||||
]
|
||||
six = [
|
||||
{file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
|
||||
{file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
|
||||
]
|
||||
tomli = [
|
||||
{file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
|
||||
{file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
|
||||
]
|
||||
typing-extensions = [
|
||||
{file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
|
||||
{file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
|
||||
]
|
||||
@@ -1,18 +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"
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
black = "^22.10.0"
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
@@ -1,7 +0,0 @@
|
||||
from matplotlib import pyplot as plt
|
||||
|
||||
from robot import arena
|
||||
|
||||
for line in arena.boundary_lines:
|
||||
plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black")
|
||||
plt.show()
|
||||
@@ -1,59 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
|
||||
class RobotDisplay:
|
||||
def __init__(self):
|
||||
self.ble_connection = BleConnection(self.handle_data)
|
||||
self.buffer = ""
|
||||
self.arena = {}
|
||||
self.closed = False
|
||||
self.fig, self.axes = plt.subplots()
|
||||
|
||||
def handle_close(self, _):
|
||||
self.closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.buffer += data.decode()
|
||||
while "\n" in self.buffer:
|
||||
line, self.buffer = self.buffer.split("\n", 1)
|
||||
print(f"Received data: {line}")
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except ValueError:
|
||||
print("Error parsing JSON")
|
||||
return
|
||||
if "arena" in message:
|
||||
self.arena = message
|
||||
|
||||
def draw(self):
|
||||
self.axes.clear()
|
||||
if self.arena:
|
||||
for line in self.arena["arena"]:
|
||||
self.axes.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
|
||||
)
|
||||
|
||||
async def main(self):
|
||||
plt.ion()
|
||||
await self.ble_connection.connect()
|
||||
try:
|
||||
request = json.dumps({"command": "arena"}).encode()
|
||||
print(f"Sending request for arena: {request}")
|
||||
await self.ble_connection.send_uart_data(request)
|
||||
self.fig.canvas.mpl_connect("close_event", self.handle_close)
|
||||
|
||||
while not self.closed:
|
||||
self.draw()
|
||||
plt.draw()
|
||||
plt.pause(0.05)
|
||||
await asyncio.sleep(0.01)
|
||||
finally:
|
||||
await self.ble_connection.close()
|
||||
|
||||
|
||||
robot_display = RobotDisplay()
|
||||
asyncio.run(robot_display.main())
|
||||
@@ -1,16 +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])
|
||||
matching_devices = [device for device in devices if device.name==ble_name]
|
||||
if len(matching_devices) == 0:
|
||||
raise RuntimeError("Could not find robot")
|
||||
ble_device_info = matching_devices[0]
|
||||
print(f"Found robot {ble_device_info.name}...")
|
||||
|
||||
asyncio.run(run())
|
||||
Generated
-789
@@ -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]
|
||||
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{file = "Pillow-9.3.0-cp39-cp39-win32.whl", hash = "sha256:bac18ab8d2d1e6b4ce25e3424f709aceef668347db8637c2296bcf41acb7cf48"},
|
||||
{file = "Pillow-9.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:b472b5ea442148d1c3e2209f20f1e0bb0eb556538690fa70b5e1f79fa0ba8dc2"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-macosx_10_10_x86_64.whl", hash = "sha256:ab388aaa3f6ce52ac1cb8e122c4bd46657c15905904b3120a6248b5b8b0bc228"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dbb8e7f2abee51cef77673be97760abff1674ed32847ce04b4af90f610144c7b"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bca31dd6014cb8b0b2db1e46081b0ca7d936f856da3b39744aef499db5d84d02"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:c7025dce65566eb6e89f56c9509d4f628fddcedb131d9465cacd3d8bac337e7e"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:ebf2029c1f464c59b8bdbe5143c79fa2045a581ac53679733d3a91d400ff9efb"},
|
||||
{file = "Pillow-9.3.0-pp38-pypy38_pp73-macosx_10_10_x86_64.whl", hash = "sha256:b59430236b8e58840a0dfb4099a0e8717ffb779c952426a69ae435ca1f57210c"},
|
||||
{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"},
|
||||
]
|
||||
@@ -1,21 +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
|
||||
@@ -1,20 +0,0 @@
|
||||
"""Represent the lines of the arena"""
|
||||
try:
|
||||
from ulab import numpy as np
|
||||
except ImportError:
|
||||
import numpy as np
|
||||
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
cutout_width = 500
|
||||
cutout_height = 500
|
||||
|
||||
boundary_lines = [
|
||||
[(0,0), (0, height)],
|
||||
[(0, height), (width, height)],
|
||||
[(width, height), (width, cutout_height)],
|
||||
[(width, cutout_height), (width - cutout_width, cutout_height)],
|
||||
[(width - cutout_width, cutout_height), (width - cutout_width, 0)],
|
||||
[(width - cutout_width, 0), (0, 0)],
|
||||
]
|
||||
@@ -1,28 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data) + "\n").encode())
|
||||
|
||||
def read_json():
|
||||
data = robot.uart.readline()
|
||||
decoded = data.decode()
|
||||
return json.loads(decoded)
|
||||
|
||||
async def command_handler():
|
||||
print("Starting handler")
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
request = read_json()
|
||||
print("Received: ", request)
|
||||
# {"command": "arena"}
|
||||
if request["command"] == "arena":
|
||||
send_json({
|
||||
"arena": arena.boundary_lines,
|
||||
})
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
asyncio.run(command_handler())
|
||||
@@ -1,84 +0,0 @@
|
||||
import rp2pio
|
||||
import adafruit_pioasm
|
||||
import array
|
||||
import asyncio
|
||||
|
||||
|
||||
program = """
|
||||
; use the osr for count
|
||||
; input pins c1 c2
|
||||
|
||||
set y, 0 ; clear y
|
||||
mov osr, y ; and clear osr
|
||||
read:
|
||||
; x will be the old value
|
||||
; y the new values
|
||||
mov x, y ; store old Y in x
|
||||
in null, 32 ; Clear ISR - using y
|
||||
in pins, 2 ; read two pins into y
|
||||
mov y, isr
|
||||
jmp x!=y, different ; Jump if its different
|
||||
jmp read ; otherwise loop back to read
|
||||
|
||||
different:
|
||||
; x has old value, y has new.
|
||||
; extract the upper bit of X.
|
||||
in x, 31 ; get bit 31 - old p1 (remember which direction it came in)
|
||||
in null, 31 ; keep only 1 bit
|
||||
mov x, isr ; put this back in x
|
||||
jmp !x, c1_old_zero
|
||||
|
||||
c1_old_not_zero:
|
||||
jmp pin, count_up
|
||||
jmp count_down
|
||||
|
||||
c1_old_zero:
|
||||
jmp pin, count_down
|
||||
; fall through
|
||||
count_up:
|
||||
; for a clockwise move - we'll add 1 by inverting
|
||||
mov x, ~ osr ; store inverted OSR on x
|
||||
jmp x--, fake ; use jump to take off 1
|
||||
fake:
|
||||
mov x, ~ x ; invert back
|
||||
jmp send
|
||||
count_down:
|
||||
; for a clockwise move, just take one off
|
||||
mov x, osr ; store osr in x
|
||||
jmp x--, send ; dec and send
|
||||
send:
|
||||
; send x.
|
||||
mov isr, x ; send it
|
||||
push noblock ; put ISR into input FIFO
|
||||
mov osr, x ; put X back in OSR
|
||||
jmp read ; loop back
|
||||
"""
|
||||
|
||||
assembled = adafruit_pioasm.assemble(program)
|
||||
|
||||
|
||||
class QuadratureEncoder:
|
||||
def __init__(self, first_pin, second_pin, reversed=False):
|
||||
"""Encoder with 2 pins. Must use sequential pins on the board"""
|
||||
self.sm = rp2pio.StateMachine(
|
||||
assembled,
|
||||
frequency=0,
|
||||
first_in_pin=first_pin,
|
||||
jmp_pin=second_pin,
|
||||
in_pin_count=2,
|
||||
)
|
||||
self.reversed = reversed
|
||||
self._buffer = array.array("i", [0])
|
||||
asyncio.create_task(self.poll_loop())
|
||||
|
||||
async def poll_loop(self):
|
||||
while True:
|
||||
await asyncio.sleep(0)
|
||||
while self.sm.in_waiting:
|
||||
self.sm.readinto(self._buffer)
|
||||
|
||||
def read(self):
|
||||
if self.reversed:
|
||||
return -self._buffer[0]
|
||||
else:
|
||||
return self._buffer[0]
|
||||
@@ -1,76 +0,0 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import adafruit_bno055
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
wheel_diameter_mm = 70
|
||||
wheel_circumference_mm = math.pi * wheel_diameter_mm
|
||||
gear_ratio = 298
|
||||
encoder_poles = 28
|
||||
ticks_per_revolution = encoder_poles * gear_ratio
|
||||
ticks_to_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)
|
||||
|
||||
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 send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
def check_imu_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
send_line(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
@@ -1,41 +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]
|
||||
)
|
||||
matching_devices = [device for device in devices if device.name==self.ble_name]
|
||||
if len(matching_devices) == 0:
|
||||
raise RuntimeError("Could not find robot")
|
||||
ble_device_info = matching_devices[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 @@
|
||||
import asyncio
|
||||
import json
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
|
||||
class RobotDisplay:
|
||||
def __init__(self):
|
||||
self.ble_connection = BleConnection(self.handle_data)
|
||||
self.buffer = ""
|
||||
self.arena = {}
|
||||
self.closed = False
|
||||
self.fig, self.axes = plt.subplots()
|
||||
self.poses = None
|
||||
|
||||
def handle_close(self, _):
|
||||
self.closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.buffer += data.decode()
|
||||
while "\n" in self.buffer:
|
||||
line, self.buffer = self.buffer.split("\n", 1)
|
||||
print(f"Received data: {line}")
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except ValueError:
|
||||
print("Error parsing JSON")
|
||||
return
|
||||
if "arena" in message:
|
||||
self.arena = message
|
||||
if "poses" in message:
|
||||
self.poses = np.array(message["poses"], dtype=np.int16)
|
||||
|
||||
def draw(self):
|
||||
self.axes.clear()
|
||||
if self.arena:
|
||||
for line in self.arena["arena"]:
|
||||
self.axes.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
|
||||
)
|
||||
if self.poses is not None:
|
||||
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
|
||||
|
||||
async def main(self):
|
||||
plt.ion()
|
||||
await self.ble_connection.connect()
|
||||
try:
|
||||
request = json.dumps({"command": "arena"}).encode()
|
||||
print(f"Sending request for arena: {request}")
|
||||
await self.ble_connection.send_uart_data(request)
|
||||
self.fig.canvas.mpl_connect("close_event", self.handle_close)
|
||||
|
||||
while not self.closed:
|
||||
self.draw()
|
||||
plt.draw()
|
||||
plt.pause(0.05)
|
||||
await asyncio.sleep(0.01)
|
||||
finally:
|
||||
await self.ble_connection.close()
|
||||
|
||||
|
||||
robot_display = RobotDisplay()
|
||||
asyncio.run(robot_display.main())
|
||||
Generated
-789
@@ -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"
|
||||
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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"},
|
||||
]
|
||||
@@ -1,21 +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
|
||||
@@ -1,20 +0,0 @@
|
||||
"""Represent the lines of the arena"""
|
||||
try:
|
||||
from ulab import numpy as np
|
||||
except ImportError:
|
||||
import numpy as np
|
||||
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
cutout_width = 500
|
||||
cutout_height = 500
|
||||
|
||||
boundary_lines = [
|
||||
[(0,0), (0, height)],
|
||||
[(0, height), (width, height)],
|
||||
[(width, height), (width, cutout_height)],
|
||||
[(width, cutout_height), (width - cutout_width, cutout_height)],
|
||||
[(width - cutout_width, cutout_height), (width - cutout_width, 0)],
|
||||
[(width - cutout_width, 0), (0, 0)],
|
||||
]
|
||||
@@ -1,59 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import random
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data) + "\n").encode())
|
||||
|
||||
def read_json():
|
||||
try:
|
||||
data = robot.uart.readline()
|
||||
decoded = data.decode()
|
||||
return json.loads(decoded)
|
||||
except (UnicodeError, ValueError):
|
||||
print("Invalid data")
|
||||
return None
|
||||
|
||||
|
||||
def send_poses(samples):
|
||||
send_json({
|
||||
"poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
|
||||
})
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 20
|
||||
self.poses = np.array(
|
||||
[(
|
||||
int(random.uniform(0, arena.width)),
|
||||
int(random.uniform(0, arena.height)),
|
||||
int(random.uniform(0, 360))) for _ in range(self.population_size)],
|
||||
dtype=np.float,
|
||||
)
|
||||
|
||||
|
||||
|
||||
async def command_handler(simulation):
|
||||
print("Starting handler")
|
||||
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,
|
||||
})
|
||||
send_poses(simulation.poses)
|
||||
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
|
||||
simulation = Simulation()
|
||||
asyncio.run(command_handler(simulation))
|
||||
@@ -1,27 +0,0 @@
|
||||
class PIDController:
|
||||
def __init__(self, kp, ki, kd, d_filter_gain=0.1, imax=None, imin=None):
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
self.d_filter_gain = d_filter_gain
|
||||
self.imax = imax
|
||||
self.imin = imin
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.integral = 0
|
||||
self.error_prev = 0
|
||||
self.derivative = 0
|
||||
|
||||
def calculate(self, error, dt):
|
||||
self.integral += error * dt
|
||||
if self.imax is not None and self.integral > self.imax:
|
||||
self.integral = self.imax
|
||||
if self.imin is not None and self.integral < self.imin:
|
||||
self.integral = self.imin
|
||||
# Add a low pass filter to the difference
|
||||
difference = (error - self.error_prev) * self.d_filter_gain
|
||||
self.error_prev += difference
|
||||
self.derivative = difference / dt
|
||||
|
||||
return self.kp * error + self.ki * self.integral + self.kd * self.derivative
|
||||
@@ -1,84 +0,0 @@
|
||||
import rp2pio
|
||||
import adafruit_pioasm
|
||||
import array
|
||||
import asyncio
|
||||
|
||||
|
||||
program = """
|
||||
; use the osr for count
|
||||
; input pins c1 c2
|
||||
|
||||
set y, 0 ; clear y
|
||||
mov osr, y ; and clear osr
|
||||
read:
|
||||
; x will be the old value
|
||||
; y the new values
|
||||
mov x, y ; store old Y in x
|
||||
in null, 32 ; Clear ISR - using y
|
||||
in pins, 2 ; read two pins into y
|
||||
mov y, isr
|
||||
jmp x!=y, different ; Jump if its different
|
||||
jmp read ; otherwise loop back to read
|
||||
|
||||
different:
|
||||
; x has old value, y has new.
|
||||
; extract the upper bit of X.
|
||||
in x, 31 ; get bit 31 - old p1 (remember which direction it came in)
|
||||
in null, 31 ; keep only 1 bit
|
||||
mov x, isr ; put this back in x
|
||||
jmp !x, c1_old_zero
|
||||
|
||||
c1_old_not_zero:
|
||||
jmp pin, count_up
|
||||
jmp count_down
|
||||
|
||||
c1_old_zero:
|
||||
jmp pin, count_down
|
||||
; fall through
|
||||
count_up:
|
||||
; for a clockwise move - we'll add 1 by inverting
|
||||
mov x, ~ osr ; store inverted OSR on x
|
||||
jmp x--, fake ; use jump to take off 1
|
||||
fake:
|
||||
mov x, ~ x ; invert back
|
||||
jmp send
|
||||
count_down:
|
||||
; for a clockwise move, just take one off
|
||||
mov x, osr ; store osr in x
|
||||
jmp x--, send ; dec and send
|
||||
send:
|
||||
; send x.
|
||||
mov isr, x ; send it
|
||||
push noblock ; put ISR into input FIFO
|
||||
mov osr, x ; put X back in OSR
|
||||
jmp read ; loop back
|
||||
"""
|
||||
|
||||
assembled = adafruit_pioasm.assemble(program)
|
||||
|
||||
|
||||
class QuadratureEncoder:
|
||||
def __init__(self, first_pin, second_pin, reversed=False):
|
||||
"""Encoder with 2 pins. Must use sequential pins on the board"""
|
||||
self.sm = rp2pio.StateMachine(
|
||||
assembled,
|
||||
frequency=0,
|
||||
first_in_pin=first_pin,
|
||||
jmp_pin=second_pin,
|
||||
in_pin_count=2,
|
||||
)
|
||||
self.reversed = reversed
|
||||
self._buffer = array.array("i", [0])
|
||||
asyncio.create_task(self.poll_loop())
|
||||
|
||||
async def poll_loop(self):
|
||||
while True:
|
||||
await asyncio.sleep(0)
|
||||
while self.sm.in_waiting:
|
||||
self.sm.readinto(self._buffer)
|
||||
|
||||
def read(self):
|
||||
if self.reversed:
|
||||
return -self._buffer[0]
|
||||
else:
|
||||
return self._buffer[0]
|
||||
@@ -1,76 +0,0 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import adafruit_bno055
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
wheel_diameter_mm = 70
|
||||
wheel_circumference_mm = math.pi * wheel_diameter_mm
|
||||
gear_ratio = 298
|
||||
encoder_poles = 28
|
||||
ticks_per_revolution = encoder_poles * gear_ratio
|
||||
ticks_to_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)
|
||||
|
||||
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 send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
def check_imu_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
send_line(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
@@ -1,41 +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]
|
||||
)
|
||||
matching_devices = [device for device in devices if device.name==self.ble_name]
|
||||
if len(matching_devices) == 0:
|
||||
raise RuntimeError("Could not find robot")
|
||||
ble_device_info = matching_devices[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)
|
||||
@@ -1,73 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from matplotlib.widgets import Button
|
||||
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
|
||||
class RobotDisplay:
|
||||
def __init__(self):
|
||||
self.ble_connection = BleConnection(self.handle_data)
|
||||
self.buffer = ""
|
||||
self.arena = {}
|
||||
self.closed = False
|
||||
self.fig, self.axes = plt.subplots()
|
||||
self.poses = None
|
||||
|
||||
def handle_close(self, _):
|
||||
self.closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.buffer += data.decode()
|
||||
while "\n" in self.buffer:
|
||||
line, self.buffer = self.buffer.split("\n", 1)
|
||||
print(f"Received data: {line}")
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except ValueError:
|
||||
print("Error parsing JSON")
|
||||
return
|
||||
if "arena" in message:
|
||||
self.arena = message
|
||||
if "poses" in message:
|
||||
self.poses = np.array(message["poses"], dtype=np.int16)
|
||||
|
||||
def draw(self):
|
||||
self.axes.clear()
|
||||
if self.arena:
|
||||
for line in self.arena["arena"]:
|
||||
self.axes.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
|
||||
)
|
||||
if self.poses is not None:
|
||||
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
|
||||
|
||||
async def send_command(self, command):
|
||||
request = (json.dumps({"command": command}) ).encode()
|
||||
print(f"Sending request: {request}")
|
||||
await self.ble_connection.send_uart_data(request)
|
||||
|
||||
def start(self, _):
|
||||
self.button_task = asyncio.create_task(self.send_command("start"))
|
||||
|
||||
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)
|
||||
while not self.closed:
|
||||
self.draw()
|
||||
plt.draw()
|
||||
plt.pause(0.05)
|
||||
await asyncio.sleep(0.01)
|
||||
finally:
|
||||
await self.ble_connection.close()
|
||||
|
||||
|
||||
robot_display = RobotDisplay()
|
||||
asyncio.run(robot_display.main())
|
||||
-789
@@ -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"
|
||||
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{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bca31dd6014cb8b0b2db1e46081b0ca7d936f856da3b39744aef499db5d84d02"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:c7025dce65566eb6e89f56c9509d4f628fddcedb131d9465cacd3d8bac337e7e"},
|
||||
{file = "Pillow-9.3.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:ebf2029c1f464c59b8bdbe5143c79fa2045a581ac53679733d3a91d400ff9efb"},
|
||||
{file = "Pillow-9.3.0-pp38-pypy38_pp73-macosx_10_10_x86_64.whl", hash = "sha256:b59430236b8e58840a0dfb4099a0e8717ffb779c952426a69ae435ca1f57210c"},
|
||||
{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"},
|
||||
]
|
||||
@@ -1,21 +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
|
||||
@@ -1,20 +0,0 @@
|
||||
"""Represent the lines of the arena"""
|
||||
try:
|
||||
from ulab import numpy as np
|
||||
except ImportError:
|
||||
import numpy as np
|
||||
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
cutout_width = 500
|
||||
cutout_height = 500
|
||||
|
||||
boundary_lines = [
|
||||
[(0,0), (0, height)],
|
||||
[(0, height), (width, height)],
|
||||
[(width, height), (width, cutout_height)],
|
||||
[(width, cutout_height), (width - cutout_width, cutout_height)],
|
||||
[(width - cutout_width, cutout_height), (width - cutout_width, 0)],
|
||||
[(width - cutout_width, 0), (0, 0)],
|
||||
]
|
||||
@@ -1,110 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import random
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
class DistanceSensorTracker:
|
||||
def __init__(self):
|
||||
robot.left_distance.distance_mode = 2
|
||||
robot.right_distance.distance_mode = 2
|
||||
self.left = 300
|
||||
self.right = 300
|
||||
|
||||
async def main(self):
|
||||
robot.left_distance.start_ranging()
|
||||
robot.right_distance.start_ranging()
|
||||
while True:
|
||||
if robot.left_distance.data_ready and robot.left_distance.distance:
|
||||
self.left = robot.left_distance.distance * 10 # convert to mm
|
||||
robot.left_distance.clear_interrupt()
|
||||
if robot.right_distance.data_ready and robot.right_distance.distance:
|
||||
self.right = robot.right_distance.distance * 10
|
||||
robot.right_distance.clear_interrupt()
|
||||
await asyncio.sleep(0.01)
|
||||
|
||||
|
||||
class CollisionAvoid:
|
||||
def __init__(self, distance_sensors):
|
||||
self.speed = 0.6
|
||||
self.distance_sensors = distance_sensors
|
||||
|
||||
async def main(self):
|
||||
while True:
|
||||
robot.set_right(self.speed)
|
||||
while self.distance_sensors.left < 300 or \
|
||||
self.distance_sensors.right < 300:
|
||||
robot.set_left(-self.speed)
|
||||
await asyncio.sleep(0.3)
|
||||
robot.set_left(self.speed)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data) + "\n").encode())
|
||||
|
||||
def read_json():
|
||||
try:
|
||||
data = robot.uart.readline()
|
||||
decoded = data.decode()
|
||||
return json.loads(decoded)
|
||||
except (UnicodeError, ValueError):
|
||||
print("Invalid data")
|
||||
return None
|
||||
|
||||
|
||||
def send_poses(samples):
|
||||
send_json({
|
||||
"poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
|
||||
})
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 20
|
||||
self.poses = np.array(
|
||||
[(
|
||||
int(random.uniform(0, arena.width)),
|
||||
int(random.uniform(0, arena.height)),
|
||||
int(random.uniform(0, 360))) for _ in range(self.population_size)],
|
||||
dtype=np.float,
|
||||
)
|
||||
self.distance_sensors = DistanceSensorTracker()
|
||||
self.collision_avoider = CollisionAvoid(self.distance_sensors)
|
||||
|
||||
async def main(self):
|
||||
asyncio.create_task(self.distance_sensors.main())
|
||||
collision_avoider = asyncio.create_task(self.collision_avoider.main())
|
||||
try:
|
||||
while True:
|
||||
await asyncio.sleep(0.1)
|
||||
send_poses(self.poses)
|
||||
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))
|
||||
@@ -1,27 +0,0 @@
|
||||
class PIDController:
|
||||
def __init__(self, kp, ki, kd, d_filter_gain=0.1, imax=None, imin=None):
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
self.d_filter_gain = d_filter_gain
|
||||
self.imax = imax
|
||||
self.imin = imin
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.integral = 0
|
||||
self.error_prev = 0
|
||||
self.derivative = 0
|
||||
|
||||
def calculate(self, error, dt):
|
||||
self.integral += error * dt
|
||||
if self.imax is not None and self.integral > self.imax:
|
||||
self.integral = self.imax
|
||||
if self.imin is not None and self.integral < self.imin:
|
||||
self.integral = self.imin
|
||||
# Add a low pass filter to the difference
|
||||
difference = (error - self.error_prev) * self.d_filter_gain
|
||||
self.error_prev += difference
|
||||
self.derivative = difference / dt
|
||||
|
||||
return self.kp * error + self.ki * self.integral + self.kd * self.derivative
|
||||
@@ -1,84 +0,0 @@
|
||||
import rp2pio
|
||||
import adafruit_pioasm
|
||||
import array
|
||||
import asyncio
|
||||
|
||||
|
||||
program = """
|
||||
; use the osr for count
|
||||
; input pins c1 c2
|
||||
|
||||
set y, 0 ; clear y
|
||||
mov osr, y ; and clear osr
|
||||
read:
|
||||
; x will be the old value
|
||||
; y the new values
|
||||
mov x, y ; store old Y in x
|
||||
in null, 32 ; Clear ISR - using y
|
||||
in pins, 2 ; read two pins into y
|
||||
mov y, isr
|
||||
jmp x!=y, different ; Jump if its different
|
||||
jmp read ; otherwise loop back to read
|
||||
|
||||
different:
|
||||
; x has old value, y has new.
|
||||
; extract the upper bit of X.
|
||||
in x, 31 ; get bit 31 - old p1 (remember which direction it came in)
|
||||
in null, 31 ; keep only 1 bit
|
||||
mov x, isr ; put this back in x
|
||||
jmp !x, c1_old_zero
|
||||
|
||||
c1_old_not_zero:
|
||||
jmp pin, count_up
|
||||
jmp count_down
|
||||
|
||||
c1_old_zero:
|
||||
jmp pin, count_down
|
||||
; fall through
|
||||
count_up:
|
||||
; for a clockwise move - we'll add 1 by inverting
|
||||
mov x, ~ osr ; store inverted OSR on x
|
||||
jmp x--, fake ; use jump to take off 1
|
||||
fake:
|
||||
mov x, ~ x ; invert back
|
||||
jmp send
|
||||
count_down:
|
||||
; for a clockwise move, just take one off
|
||||
mov x, osr ; store osr in x
|
||||
jmp x--, send ; dec and send
|
||||
send:
|
||||
; send x.
|
||||
mov isr, x ; send it
|
||||
push noblock ; put ISR into input FIFO
|
||||
mov osr, x ; put X back in OSR
|
||||
jmp read ; loop back
|
||||
"""
|
||||
|
||||
assembled = adafruit_pioasm.assemble(program)
|
||||
|
||||
|
||||
class QuadratureEncoder:
|
||||
def __init__(self, first_pin, second_pin, reversed=False):
|
||||
"""Encoder with 2 pins. Must use sequential pins on the board"""
|
||||
self.sm = rp2pio.StateMachine(
|
||||
assembled,
|
||||
frequency=0,
|
||||
first_in_pin=first_pin,
|
||||
jmp_pin=second_pin,
|
||||
in_pin_count=2,
|
||||
)
|
||||
self.reversed = reversed
|
||||
self._buffer = array.array("i", [0])
|
||||
asyncio.create_task(self.poll_loop())
|
||||
|
||||
async def poll_loop(self):
|
||||
while True:
|
||||
await asyncio.sleep(0)
|
||||
while self.sm.in_waiting:
|
||||
self.sm.readinto(self._buffer)
|
||||
|
||||
def read(self):
|
||||
if self.reversed:
|
||||
return -self._buffer[0]
|
||||
else:
|
||||
return self._buffer[0]
|
||||
@@ -1,76 +0,0 @@
|
||||
import board
|
||||
import pwmio
|
||||
import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import adafruit_bno055
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
wheel_diameter_mm = 70
|
||||
wheel_circumference_mm = math.pi * wheel_diameter_mm
|
||||
gear_ratio = 298
|
||||
encoder_poles = 28
|
||||
ticks_per_revolution = encoder_poles * gear_ratio
|
||||
ticks_to_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)
|
||||
|
||||
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 send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
def check_imu_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
send_line(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
@@ -1,41 +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]
|
||||
)
|
||||
matching_devices = [device for device in devices if device.name==self.ble_name]
|
||||
if len(matching_devices) == 0:
|
||||
raise RuntimeError("Could not find robot")
|
||||
ble_device_info = matching_devices[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)
|
||||
File diff suppressed because one or more lines are too long
@@ -1,73 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from matplotlib.widgets import Button
|
||||
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
|
||||
class RobotDisplay:
|
||||
def __init__(self):
|
||||
self.ble_connection = BleConnection(self.handle_data)
|
||||
self.buffer = ""
|
||||
self.arena = {}
|
||||
self.closed = False
|
||||
self.fig, self.axes = plt.subplots()
|
||||
self.poses = None
|
||||
|
||||
def handle_close(self, _):
|
||||
self.closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.buffer += data.decode()
|
||||
while "\n" in self.buffer:
|
||||
line, self.buffer = self.buffer.split("\n", 1)
|
||||
print(f"Received data: {line}")
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except ValueError:
|
||||
print("Error parsing JSON")
|
||||
return
|
||||
if "arena" in message:
|
||||
self.arena = message
|
||||
if "poses" in message:
|
||||
self.poses = np.array(message["poses"], dtype=np.int16)
|
||||
|
||||
def draw(self):
|
||||
self.axes.clear()
|
||||
if self.arena:
|
||||
for line in self.arena["arena"]:
|
||||
self.axes.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
|
||||
)
|
||||
if self.poses is not None:
|
||||
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
|
||||
|
||||
async def send_command(self, command):
|
||||
request = (json.dumps({"command": command}) ).encode()
|
||||
print(f"Sending request: {request}")
|
||||
await self.ble_connection.send_uart_data(request)
|
||||
|
||||
def start(self, _):
|
||||
self.button_task = asyncio.create_task(self.send_command("start"))
|
||||
|
||||
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)
|
||||
while not self.closed:
|
||||
self.draw()
|
||||
plt.draw()
|
||||
plt.pause(0.05)
|
||||
await asyncio.sleep(0.01)
|
||||
finally:
|
||||
await self.ble_connection.close()
|
||||
|
||||
|
||||
robot_display = RobotDisplay()
|
||||
asyncio.run(robot_display.main())
|
||||
-2572
File diff suppressed because it is too large
Load Diff
@@ -1,22 +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"
|
||||
jupyter = "^1.0.0"
|
||||
|
||||
|
||||
[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
|
||||
@@ -1,20 +0,0 @@
|
||||
"""Represent the lines of the arena"""
|
||||
try:
|
||||
from ulab import numpy as np
|
||||
except ImportError:
|
||||
import numpy as np
|
||||
|
||||
|
||||
width = 1500
|
||||
height = 1500
|
||||
cutout_width = 500
|
||||
cutout_height = 500
|
||||
|
||||
boundary_lines = [
|
||||
[(0,0), (0, height)],
|
||||
[(0, height), (width, height)],
|
||||
[(width, height), (width, cutout_height)],
|
||||
[(width, cutout_height), (width - cutout_width, cutout_height)],
|
||||
[(width - cutout_width, cutout_height), (width - cutout_width, 0)],
|
||||
[(width - cutout_width, 0), (0, 0)],
|
||||
]
|
||||
@@ -1,165 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import random
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
class DistanceSensorTracker:
|
||||
def __init__(self):
|
||||
robot.left_distance.distance_mode = 2
|
||||
robot.right_distance.distance_mode = 2
|
||||
self.left = 300
|
||||
self.right = 300
|
||||
|
||||
async def main(self):
|
||||
robot.left_distance.start_ranging()
|
||||
robot.right_distance.start_ranging()
|
||||
while True:
|
||||
if robot.left_distance.data_ready and robot.left_distance.distance:
|
||||
self.left = robot.left_distance.distance * 10 # convert to mm
|
||||
robot.left_distance.clear_interrupt()
|
||||
if robot.right_distance.data_ready and robot.right_distance.distance:
|
||||
self.right = robot.right_distance.distance * 10
|
||||
robot.right_distance.clear_interrupt()
|
||||
await asyncio.sleep(0.01)
|
||||
|
||||
|
||||
class CollisionAvoid:
|
||||
def __init__(self, distance_sensors):
|
||||
self.speed = 0.6
|
||||
self.distance_sensors = distance_sensors
|
||||
|
||||
async def main(self):
|
||||
while True:
|
||||
robot.set_right(self.speed)
|
||||
while self.distance_sensors.left < 300 or \
|
||||
self.distance_sensors.right < 300:
|
||||
robot.set_left(-self.speed)
|
||||
await asyncio.sleep(0.3)
|
||||
robot.set_left(self.speed)
|
||||
await asyncio.sleep(0)
|
||||
|
||||
|
||||
def send_json(data):
|
||||
robot.uart.write((json.dumps(data) + "\n").encode())
|
||||
|
||||
def read_json():
|
||||
try:
|
||||
data = robot.uart.readline()
|
||||
decoded = data.decode()
|
||||
return json.loads(decoded)
|
||||
except (UnicodeError, ValueError):
|
||||
print("Invalid data")
|
||||
return None
|
||||
|
||||
|
||||
def send_poses(samples):
|
||||
send_json({
|
||||
"poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
|
||||
})
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 20
|
||||
self.poses = np.array(
|
||||
[(
|
||||
int(random.uniform(0, arena.width)),
|
||||
int(random.uniform(0, arena.height)),
|
||||
int(random.uniform(0, 360))) for _ in range(self.population_size)],
|
||||
dtype=np.float,
|
||||
)
|
||||
self.distance_sensors = DistanceSensorTracker()
|
||||
self.collision_avoider = CollisionAvoid(self.distance_sensors)
|
||||
self.last_encoder_left = robot.left_encoder.read()
|
||||
self.last_encoder_right = robot.right_encoder.read()
|
||||
|
||||
|
||||
def convert_odometry_to_motion(self, left_encoder_delta, right_encoder_delta):
|
||||
"""
|
||||
left_encoder is the change in the left encoder
|
||||
right_encoder is the change in the right encoder
|
||||
returns rot1, trans, rot2
|
||||
rot1 is the rotation of the robot in degrees before the translation
|
||||
trans is the distance the robot has moved in mm
|
||||
rot2 is the rotation of the robot in degrees
|
||||
"""
|
||||
left_mm = left_encoder_delta * robot.ticks_to_mm
|
||||
right_mm = right_encoder_delta * robot.ticks_to_mm
|
||||
|
||||
if left_mm == right_mm:
|
||||
return 0, left_mm, 0
|
||||
|
||||
# calculate the radius of the arc
|
||||
radius = (robot.wheelbase_mm / 2) * (left_mm + right_mm) / (right_mm - left_mm)
|
||||
## angle = difference in steps / wheelbase
|
||||
d_theta = (right_mm - left_mm) / robot.wheelbase_mm
|
||||
# For a small enough motion, assume that the chord length = arc length
|
||||
arc_length = d_theta * radius
|
||||
rot1 = np.degrees(d_theta/2)
|
||||
rot2 = rot1
|
||||
return rot1, arc_length, rot2
|
||||
|
||||
def move_poses(self, rot1, trans, rot2):
|
||||
self.poses[:,2] += rot1
|
||||
rot1_radians = np.radians(self.poses[:,2])
|
||||
self.poses[:,0] += trans * np.cos(rot1_radians)
|
||||
self.poses[:,1] += trans * np.sin(rot1_radians)
|
||||
self.poses[:,2] += rot2
|
||||
self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
|
||||
|
||||
def motion_model(self):
|
||||
"""Apply the motion model"""
|
||||
new_encoder_left = robot.left_encoder.read()
|
||||
new_encoder_right = robot.right_encoder.read()
|
||||
|
||||
rot1, trans, rot2 = self.convert_odometry_to_motion(
|
||||
new_encoder_left - self.last_encoder_left,
|
||||
new_encoder_right - self.last_encoder_right)
|
||||
self.last_encoder_left = new_encoder_left
|
||||
self.last_encoder_right = new_encoder_right
|
||||
|
||||
self.move_poses(rot1, trans, rot2)
|
||||
print(
|
||||
json.dumps(
|
||||
[self.poses.tolist(), rot1, trans, rot2]
|
||||
)
|
||||
)
|
||||
|
||||
async def main(self):
|
||||
asyncio.create_task(self.distance_sensors.main())
|
||||
collision_avoider = asyncio.create_task(self.collision_avoider.main())
|
||||
try:
|
||||
while True:
|
||||
send_poses(self.poses)
|
||||
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))
|
||||
@@ -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 adafruit_bno055
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
|
||||
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_mm = wheel_circumference_mm / ticks_per_revolution
|
||||
ticks_to_m = ticks_to_mm / 1000
|
||||
m_to_ticks = 1 / ticks_to_m
|
||||
wheelbase_mm = 170
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
motor_B2 = pwmio.PWMOut(board.GP18, frequency=100)
|
||||
motor_B1 = pwmio.PWMOut(board.GP19, frequency=100)
|
||||
|
||||
right_motor = motor_A1, motor_A2
|
||||
left_motor = motor_B1, motor_B2
|
||||
|
||||
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21)
|
||||
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27, reversed=True)
|
||||
|
||||
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
|
||||
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
|
||||
|
||||
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
|
||||
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
|
||||
|
||||
imu = adafruit_bno055.BNO055_I2C(i2c0)
|
||||
|
||||
def stop():
|
||||
motor_A1.duty_cycle = 0
|
||||
motor_A2.duty_cycle = 0
|
||||
motor_B1.duty_cycle = 0
|
||||
motor_B2.duty_cycle = 0
|
||||
|
||||
|
||||
def set_speed(motor, speed):
|
||||
# Swap motor pins if we reverse the speed
|
||||
if abs(speed) < 0.1:
|
||||
motor[0].duty_cycle = 0
|
||||
motor[1].duty_cycle = 1
|
||||
return
|
||||
if speed < 0:
|
||||
direction = motor[1], motor[0]
|
||||
speed = -speed
|
||||
else:
|
||||
direction = motor
|
||||
speed = min(speed, 1) # limit to 1.0
|
||||
max_speed = 2 ** 16 - 1
|
||||
|
||||
direction[0].duty_cycle = int(max_speed * speed)
|
||||
direction[1].duty_cycle = 0
|
||||
|
||||
|
||||
def set_left(speed):
|
||||
set_speed(left_motor, speed)
|
||||
|
||||
|
||||
def set_right(speed):
|
||||
set_speed(right_motor, speed)
|
||||
|
||||
def send_line(message):
|
||||
uart.write(f"{message}\n".encode())
|
||||
|
||||
def check_imu_status():
|
||||
sys_status, gyro, accel, mag = imu.calibration_status
|
||||
send_line(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
|
||||
return sys_status == 3
|
||||
@@ -1,41 +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]
|
||||
)
|
||||
matching_devices = [device for device in devices if device.name==self.ble_name]
|
||||
if len(matching_devices) == 0:
|
||||
raise RuntimeError("Could not find robot")
|
||||
ble_device_info = matching_devices[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)
|
||||
@@ -1,53 +0,0 @@
|
||||
import numpy as np
|
||||
from matplotlib import pyplot as plt, patches
|
||||
from robot import arena
|
||||
import random
|
||||
|
||||
fig, ax = plt.subplots()
|
||||
|
||||
# for line in arena.boundary_lines:
|
||||
# plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black")
|
||||
|
||||
poses = np.random.normal([250, 300], [2, 2], size=(200, 2))
|
||||
ax.scatter(poses[:, 0], poses[:, 1])
|
||||
|
||||
# create a line for a motion vector
|
||||
motion_angle = 30
|
||||
motion_scale = 300
|
||||
motion_line = np.array([[250, 300],
|
||||
[motion_scale * np.cos(np.radians(motion_angle)), motion_scale * np.sin(np.radians(motion_angle))]])
|
||||
|
||||
|
||||
def get_random_sample(mean, scale):
|
||||
return mean + (random.uniform(-scale, scale) + random.uniform(-scale, scale)) / 2
|
||||
|
||||
rotation_scale = 0.05 * abs(motion_angle) + 0.01 * abs(motion_scale)
|
||||
translation_scale = 0.05 * abs(motion_scale) + 0.01 * abs(motion_angle)
|
||||
|
||||
motion_rotation = np.array([get_random_sample(motion_angle, rotation_scale) for _ in range(poses.shape[0])])
|
||||
motion_translation = np.array([get_random_sample(motion_scale, translation_scale) for _ in range(poses.shape[0])])
|
||||
|
||||
new_poses = np.zeros_like(poses)
|
||||
new_poses[:, 0] = poses[:, 0] + motion_translation * np.cos(np.radians(motion_rotation))
|
||||
new_poses[:, 1] = poses[:, 1] + motion_translation * np.sin(np.radians(motion_rotation))
|
||||
# new_poses[:, 0] = poses[:, 0] + motion_scale * np.cos(np.radians(motion_angle))
|
||||
# new_poses[:, 1] = poses[:, 1] + motion_scale * np.sin(np.radians(motion_angle))
|
||||
|
||||
ax.scatter(new_poses[:, 0], new_poses[:, 1])
|
||||
|
||||
# plot the vector arrow
|
||||
ax.arrow(*motion_line[0], *motion_line[1], color="red", width=5)
|
||||
|
||||
# plot the angles on top
|
||||
# line from original cluster middle, going east.
|
||||
ax.plot([250, 250+100], [300, 300], color="black")
|
||||
# label plot axes with mm
|
||||
ax.set_xlabel("mm")
|
||||
ax.set_ylabel("mm")
|
||||
|
||||
angle = patches.Wedge((250, 300), 100, 0, motion_angle, width=20, color=(0.3, 0.3, 0.3, 0.3))
|
||||
ax.add_patch(angle)
|
||||
ax.text(370, 330, f"{motion_angle}°", horizontalalignment="center", verticalalignment="center",
|
||||
fontsize="x-large")
|
||||
|
||||
plt.show()
|
||||
@@ -1,73 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from matplotlib.widgets import Button
|
||||
|
||||
from robot_ble_connection import BleConnection
|
||||
|
||||
|
||||
class RobotDisplay:
|
||||
def __init__(self):
|
||||
self.ble_connection = BleConnection(self.handle_data)
|
||||
self.buffer = ""
|
||||
self.arena = {}
|
||||
self.closed = False
|
||||
self.fig, self.axes = plt.subplots()
|
||||
self.poses = None
|
||||
|
||||
def handle_close(self, _):
|
||||
self.closed = True
|
||||
|
||||
def handle_data(self, data):
|
||||
self.buffer += data.decode()
|
||||
while "\n" in self.buffer:
|
||||
line, self.buffer = self.buffer.split("\n", 1)
|
||||
print(f"Received data: {line}")
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except ValueError:
|
||||
print("Error parsing JSON")
|
||||
return
|
||||
if "arena" in message:
|
||||
self.arena = message
|
||||
if "poses" in message:
|
||||
self.poses = np.array(message["poses"], dtype=np.int16)
|
||||
|
||||
def draw(self):
|
||||
self.axes.clear()
|
||||
if self.arena:
|
||||
for line in self.arena["arena"]:
|
||||
self.axes.plot(
|
||||
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
|
||||
)
|
||||
if self.poses is not None:
|
||||
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
|
||||
|
||||
async def send_command(self, command):
|
||||
request = (json.dumps({"command": command}) ).encode()
|
||||
print(f"Sending request: {request}")
|
||||
await self.ble_connection.send_uart_data(request)
|
||||
|
||||
def start(self, _):
|
||||
self.button_task = asyncio.create_task(self.send_command("start"))
|
||||
|
||||
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)
|
||||
while not self.closed:
|
||||
self.draw()
|
||||
plt.draw()
|
||||
plt.pause(0.05)
|
||||
await asyncio.sleep(0.01)
|
||||
finally:
|
||||
await self.ble_connection.close()
|
||||
|
||||
|
||||
robot_display = RobotDisplay()
|
||||
asyncio.run(robot_display.main())
|
||||
-2572
File diff suppressed because it is too large
Load Diff
@@ -1,22 +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"
|
||||
jupyter = "^1.0.0"
|
||||
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
black = "^22.10.0"
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user