Danny Staple
101 lines
2.9 KiB
Python
101 lines
2.9 KiB
Python
import asyncio
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import time
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import robot
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import pid_controller
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class Settings:
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speed = 0.17
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time_interval = 0.2
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motors_enabled = False
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class SpeedController:
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def __init__(self, encoder, motor_fn):
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self.encoder = encoder
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self.motor_fn = motor_fn
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self.pid = pid_controller.PIDController(0, 6, 0)
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self.reset()
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def reset(self):
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self.last_ticks = self.encoder.read()
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self.error = 0
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self.control_signal = 0
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self.pid.reset()
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def update(self, dt):
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current_ticks = self.encoder.read()
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speed_in_ticks = (current_ticks - self.last_ticks) / dt
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self.last_ticks = current_ticks
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speed_in_m_per_s = robot.ticks_to_mm(speed_in_ticks) / 1000
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# calculate the error
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self.error = (Settings.speed * Settings.motors_enabled) - speed_in_m_per_s
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# calculate the control signal
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self.control_signal = self.pid.calculate(self.error, dt)
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self.motor_fn(self.control_signal)
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left = SpeedController(robot.left_encoder, robot.set_left)
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right = SpeedController(robot.right_encoder, robot.set_right)
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async def motor_speed_loop():
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last_time = time.monotonic()
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while True:
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await asyncio.sleep(Settings.time_interval)
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current_time = time.monotonic()
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dt = current_time - last_time
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last_time = current_time
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left.update(dt)
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right.update(dt)
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robot.uart.write(f"0, {left.error:.2f},{right.error:.2f}\n".encode())
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async def stop_motors_after(seconds):
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await asyncio.sleep(seconds)
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Settings.motors_enabled = False
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async def command_handler():
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while True:
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if robot.uart.in_waiting:
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command = robot.uart.readline().decode().strip()
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# PID settings
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if command.startswith("P"):
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left.pid.kp = float(command[1:])
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right.pid.kp = float(command[1:])
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elif command.startswith("I"):
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left.pid.ki = float(command[1:])
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left.pid.reset()
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right.pid.ki = float(command[1:])
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right.pid.reset()
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elif command.startswith("D"):
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left.pid.kd = float(command[1:])
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right.pid.kd = float(command[1:])
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elif command.startswith("T"):
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Settings.time_interval = float(command[1:])
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# Speed settings
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elif command.startswith("M"):
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Settings.speed = float(command[1:])
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# Start/stop commands
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elif command == "O":
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Settings.motors_enabled = False
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elif command.startswith("O"):
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await asyncio.sleep(5)
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asyncio.create_task(stop_motors_after(float(command[1:])))
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Settings.motors_enabled = True
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left.reset()
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right.reset()
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# Print settings
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elif command.startswith("?"):
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robot.uart.write(f"M{Settings.speed:.1f}\n".encode())
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robot.uart.write(f"P{left.pid.kp:.2f}:I{left.pid.ki:.2f}:D{left.pid.kd:.2f}\n".encode())
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robot.uart.write(f"T{Settings.time_interval:.1f}\n".encode())
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await asyncio.sleep(3)
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await asyncio.sleep(0)
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try:
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asyncio.create_task(motor_speed_loop())
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asyncio.run(command_handler())
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finally:
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robot.stop()
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