def main():
setupSerial()
#if SAVE_DATA:
# shared.dataFileName = findFileName();
# print "Data file: ", shared.dataFileName
if RESET_ROBOT:
print "Resetting robot..."
resetRobot()
time.sleep(0.5)
# Send robot a WHO_AM_I command, verify communications
queryRobot()
#Flash must be erased to save new data
#if SAVE_DATA:
# eraseFlashMem(numSamples)
# Pause and wait to start run, including leadin time
raw_input("Press enter to start streaming ...")
numSamples = 100
startTelemetryStream(numSamples)
#Wait for streaming to complete
time.sleep(numSamples / 20.0 + 0.5)
#Wait for Ctrl+C to exit; this is done in case other messages come in
#from the robot, which are handled by callbackfunc
print "Ctrl + C to exit"
while True:
try:
time.sleep(1)
#print ".",
except KeyboardInterrupt:
break
shared.xb.halt()
shared.ser.close()
print "Done"
def main():
setupSerial()
#if SAVE_DATA:
# shared.dataFileName = findFileName();
# print "Data file: ", shared.dataFileName
if RESET_ROBOT:
print "Resetting robot..."
resetRobot()
time.sleep(0.5)
# Send robot a WHO_AM_I command, verify communications
queryRobot()
#Flash must be erased to save new data
#if SAVE_DATA:
# eraseFlashMem(numSamples)
# Pause and wait to start run, including leadin time
raw_input("Press enter to start streaming ...")
numSamples = 100
startTelemetryStream(numSamples)
#Wait for streaming to complete
time.sleep(numSamples / 20.0 + 0.5)
#Wait for Ctrl+C to exit; this is done in case other messages come in
#from the robot, which are handled by callbackfunc
print "Ctrl + C to exit"
while True:
try:
time.sleep(1)
#print ".",
except KeyboardInterrupt:
break
shared.xb.halt()
shared.ser.close()
print "Done"
def main():
setupSerial()
if SAVE_DATA:
shared.dataFileName = findFileName();
print "Data file: ", shared.dataFileName
#sendEcho("echo test")
#time.sleep(0.2)
if RESET_ROBOT:
print "Resetting robot..."
resetRobot()
time.sleep(0.5)
# Send robot a WHO_AM_I command, verify communications
queryRobot()
#wakeRobot()
#time.sleep(1)
#sleepRobot()
#Motor gains format:
# [ Kp , Ki , Kd , Kaw , Kff , Kp , Ki , Kd , Kaw , Kff ]
# ----------LEFT---------- ---------_RIGHT----------
motorgains = [8000,100,2,0,0 , 8000,100,2,0,0] #Hardware PID
#motorgains = [200,2,0,2,0, 200,2,0,2,0] #Software PID
#motorgains = [0000,000,0,0,0 , 0000,000,0,0,0]
setMotorGains(motorgains)
#Steering gains format:
# [ Kp , Ki , Kd , Kaw , Kff]
#
#steeringGains = [5000,0,0,0,0, STEER_MODE_DECREASE] # Disables steering controller
#steeringGains = [20,1,0,1,0, STEER_MODE_DECREASE]
steeringGains = [50,10,0,0,0, STEER_MODE_DECREASE] # Hardware PID
#steeringGains = [0000,0,0,0,0, STEER_MODE_DECREASE]
setSteeringGains(steeringGains)
setSteeringRate(0)
#Tail gains format:
# [ Kp , Ki , Kd , Kaw , Kff]
#
tailGains = [8000,20,1000,0,0] #tuned 7/12/12
#tailGains = [0,0,0,0,0] # Disables tail controller
setTailGains(tailGains)
time.sleep(1)
# Gyro Control Experiment ###############################
#exp_time = 1000
#start_angle = -90
#throttle = 300
#tailq_init = [2, \
# 0, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
# 0, exp_time, TAIL_SEG_RAMP, start_angle*10, 0, 0
# ]
#moves = 3
#moveq = [moves, \
# throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
# throttle, throttle, exp_time/2, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_OFF, 0,
# throttle, throttle, exp_time/2, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0
# ]
# Tail range of motion is between 140 and -125 deg! do not exceed
#tailq = [moves, \
# start_angle, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
# 0, exp_time/2, TAIL_GYRO_CONTROL, -90, 0, 0,
# 0, exp_time/2, TAIL_SEG_IDLE, 0, 0, 0
# ]
#################################################33
# Friction Experiments
exp_time = 1000
tailTime = 150
start_angle = -90
throttle = 0
init_moves = 2
tailq_init = [init_moves, \
0, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
0, exp_time, TAIL_SEG_RAMP, start_angle*10, 0, 0
]
moveq_init = [init_moves, \
throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0
]
moves = 3
moveq = [moves, \
throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
throttle, throttle, tailTime, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_OFF, 0,
throttle, throttle, exp_time/2, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_OFF, 0
]
# Tail range of motion is between 140 and -125 deg! do not exceed
tailq = [moves, \
start_angle, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
0, tailTime, TAIL_GYRO_CONTROL, -100, 0, 0,
0, exp_time/2, TAIL_SEG_IDLE, 0, 0, 0
]
######################################3
# Friction Experiments - going straight up hill
#exp_time = 5000
#start_angle = -90
#throttle = 400
#moves = 1
#moveq = [moves, \
# throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE,0
# ]
######################################3
#moves = 2
#moveq = [moves, \
# 300, 300, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
# 200, 200, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 20]
#tailq = [tmoves, \
# 0, exp_time, TAIL_GYRO_CONTROL, -20, 0, 0
# ]
#tailq = [tmoves, \
# 90.0, 6000, MOVE_SEG_RAMP, -30*10, 0, 0,
# -90.0, 6000, MOVE_SEG_RAMP, 30*10, 0, 0
# ]
#Ramp example
#moves = 5
#moveq = [moves, \
# 0, 0, 0, MOVE_SEG_LOOP_DECL, 0, 0, 0,
# 0, 0, 500, MOVE_SEG_RAMP, 300, 300, 0,
# 150, 150, 1000, MOVE_SEG_CONSTANT, 0, 0, 0,
# 150, 150, 500, MOVE_SEG_RAMP, -300, -300, 0,
# 0, 0, 100, MOVE_SEG_CONSTANT, 0, 0, 0]
#Sin example
#RAD_TO_BAMS16 = (0x7FFF)/(3.1415)
#phase = 3.1415/2 * RAD_TO_BAMS16
#moves = 2
#moveq = [moves, \
# 76, 76, 2000, MOVE_SEG_SIN, 75, 1000, phase,
# 75, 75, 2000, MOVE_SEG_CONSTANT, 0, 0, 0]
shared.runtime = exp_time*moves
#Timing settings
shared.leadinTime = 500;
shared.leadoutTime = 500;
numSamples = calcNumSamples(moveq)
#numSamples = int(floor((tailq[2]+shared.leadinTime+shared.leadoutTime)*0.150))
shared.imudata = [ [] ] * numSamples
#Flash must be erased to save new data
if SAVE_DATA:
eraseFlashMem(numSamples)
# Pause and wait to start run, including leadin time
raw_input("Press enter to start run ...")
sendTailQueue(tailq_init)
#sendMoveQueue(moveq_init)
time.sleep(2)
# Trigger telemetry save, which starts as soon as it is received
if SAVE_DATA:
startTelemetrySave(numSamples)
time.sleep(shared.leadinTime / 1000.0)
#Send the move queue to the robot; robot will start processing it
#as soon as it is received
#sendMoveQueue(moveq)
sendTailQueue(tailq)
#Clear loop
#time.sleep(6)
#mqclear = [1, 0, 0, 0, MOVE_SEG_LOOP_CLEAR, 0, 0, 0]
#mqflush = [1, 0, 0, 0, MOVE_SEG_QFLUSH, 0, 0, 0]
if SAVE_DATA:
#print "Sending loop clear!!"
#sendMoveQueue(mqclear)
time.sleep(0.05)
#print "Sending move queue flush!!"
#sendMoveQueue(mqflush)
downloadTelemetry(numSamples)
#Wait for Ctrl+C to exit; this is done in case other messages come in
#from the robot, which are handled by callbackfunc
print "Ctrl + C to exit"
while True:
try:
time.sleep(1)
#print ".",
except KeyboardInterrupt:
break
shared.xb.halt()
shared.ser.close()
print "Done"
def main():
setupSerial()
if SAVE_DATA:
shared.dataFileName = findFileName()
print "Data file: ", shared.dataFileName
#sendEcho("echo test")
#time.sleep(0.2)
if RESET_ROBOT:
print "Resetting robot..."
resetRobot()
time.sleep(0.5)
# Send robot a WHO_AM_I command, verify communications
queryRobot()
#wakeRobot()
#time.sleep(1)
#sleepRobot()
setSteeringRate(0)
#Motor gains format:
# [ Kp , Ki , Kd , Kaw , Kff , Kp , Ki , Kd , Kaw , Kff ]
# ----------LEFT---------- ---------_RIGHT----------
motorgains = [8000, 100, 2, 0, 0, 8000, 100, 2, 0, 0] #Hardware PID
#motorgains = [200,2,0,2,0, 200,2,0,2,0] #Software PID
setMotorGains(motorgains)
#Steering gains format:
# [ Kp , Ki , Kd , Kaw , Kff]
#
steeringGains = [5000, 0, 0, 0, 0,
STEER_MODE_DECREASE] # Disables steering controller
#steeringGains = [20,1,0,1,0, STEER_MODE_DECREASE]
#steeringGains = [50,10,0,0,0, STEER_MODE_DECREASE] # Hardware PID
setSteeringGains(steeringGains)
#### Do not send more than 5 move segments per packet! ####
#### Instead, send multiple packets, and don't use ####
#### calcNumSamples() below, manually calc numSamples ####
#### This will be fixed to be automatic in the future. ####
#Constant example
#moves = 1
#moveq = [moves, \
# 135, 135, 10000, MOVE_SEG_CONSTANT, 0, 0, 0]
#Ramp example
moves = 3
moveq = [moves, \
0, 0, 500, MOVE_SEG_RAMP, 300, 300, 0,
150, 150, 1000, MOVE_SEG_CONSTANT, 0, 0, 0,
150, 150, 500, MOVE_SEG_RAMP, -300, -300, 0]
#Sin example
#RAD_TO_BAMS16 = (0x7FFF)/(3.1415)
#phase = 3.1415/2 * RAD_TO_BAMS16
#moves = 2
#moveq = [moves, \
# 76, 76, 2000, MOVE_SEG_SIN, 75, 1000, phase,
# 75, 75, 2000, MOVE_SEG_CONSTANT, 0, 0, 0]
#Timing settings
shared.leadinTime = 500
shared.leadoutTime = 500
numSamples = calcNumSamples(moveq)
shared.imudata = [[]] * numSamples
#Flash must be erased to save new data
if SAVE_DATA:
eraseFlashMem(numSamples)
# Pause and wait to start run, including leadin time
raw_input("Press enter to start run ...")
# Trigger telemetry save, which starts as soon as it is received
if SAVE_DATA:
startTelemetrySave(numSamples)
time.sleep(shared.leadinTime / 1000.0)
#Send the move queue to the robot; robot will start processing it
#as soon as it is received
sendMoveQueue(moveq)
if SAVE_DATA:
downloadTelemetry(numSamples)
#Wait for Ctrl+C to exit; this is done in case other messages come in
#from the robot, which are handled by callbackfunc
print "Ctrl + C to exit"
while True:
try:
time.sleep(1)
#print ".",
except KeyboardInterrupt:
break
shared.xb.halt()
shared.ser.close()
print "Done"
def main():
setupSerial()
if SAVE_DATA:
shared.dataFileName = findFileName();
print "Data file: ", shared.dataFileName
#sendEcho("echo test")
#time.sleep(0.2)
if RESET_ROBOT:
print "Resetting robot..."
resetRobot()
time.sleep(0.5)
# Send robot a WHO_AM_I command, verify communications
queryRobot()
#wakeRobot()
#time.sleep(1)
#sleepRobot()
setSteeringRate(0)
#Motor gains format:
# [ Kp , Ki , Kd , Kaw , Kff , Kp , Ki , Kd , Kaw , Kff ]
# ----------LEFT---------- ---------_RIGHT----------
motorgains = [8000,100,2,0,0 , 8000,100,2,0,0] #Hardware PID
#motorgains = [200,2,0,2,0, 200,2,0,2,0] #Software PID
setMotorGains(motorgains)
#Steering gains format:
# [ Kp , Ki , Kd , Kaw , Kff]
#
steeringGains = [5000,0,0,0,0, STEER_MODE_DECREASE] # Disables steering controller
#steeringGains = [20,1,0,1,0, STEER_MODE_DECREASE]
#steeringGains = [50,10,0,0,0, STEER_MODE_DECREASE] # Hardware PID
setSteeringGains(steeringGains)
#### Do not send more than 5 move segments per packet! ####
#### Instead, send multiple packets, and don't use ####
#### calcNumSamples() below, manually calc numSamples ####
#### This will be fixed to be automatic in the future. ####
#Constant example
#moves = 1
#moveq = [moves, \
# 135, 135, 10000, MOVE_SEG_CONSTANT, 0, 0, 0]
#Ramp example
moves = 3
moveq = [moves, \
0, 0, 500, MOVE_SEG_RAMP, 300, 300, 0,
150, 150, 1000, MOVE_SEG_CONSTANT, 0, 0, 0,
150, 150, 500, MOVE_SEG_RAMP, -300, -300, 0]
#Sin example
#RAD_TO_BAMS16 = (0x7FFF)/(3.1415)
#phase = 3.1415/2 * RAD_TO_BAMS16
#moves = 2
#moveq = [moves, \
# 76, 76, 2000, MOVE_SEG_SIN, 75, 1000, phase,
# 75, 75, 2000, MOVE_SEG_CONSTANT, 0, 0, 0]
#Timing settings
shared.leadinTime = 500;
shared.leadoutTime = 500;
numSamples = calcNumSamples(moveq)
shared.imudata = [ [] ] * numSamples
#Flash must be erased to save new data
if SAVE_DATA:
eraseFlashMem(numSamples)
# Pause and wait to start run, including leadin time
raw_input("Press enter to start run ...")
# Trigger telemetry save, which starts as soon as it is received
if SAVE_DATA:
startTelemetrySave(numSamples)
time.sleep(shared.leadinTime / 1000.0)
#Send the move queue to the robot; robot will start processing it
#as soon as it is received
sendMoveQueue(moveq)
if SAVE_DATA:
downloadTelemetry(numSamples)
#Wait for Ctrl+C to exit; this is done in case other messages come in
#from the robot, which are handled by callbackfunc
print "Ctrl + C to exit"
while True:
try:
time.sleep(1)
#print ".",
except KeyboardInterrupt:
break
shared.xb.halt()
shared.ser.close()
print "Done"
def main():
setupSerial()
if SAVE_DATA:
shared.dataFileName = findFileName()
print "Data file: ", shared.dataFileName
#sendEcho("echo test")
#time.sleep(0.2)
if RESET_ROBOT:
print "Resetting robot..."
resetRobot()
time.sleep(0.5)
# Send robot a WHO_AM_I command, verify communications
queryRobot()
#wakeRobot()
#time.sleep(1)
#sleepRobot()
#Motor gains format:
# [ Kp , Ki , Kd , Kaw , Kff , Kp , Ki , Kd , Kaw , Kff ]
# ----------LEFT---------- ---------_RIGHT----------
motorgains = [8000, 100, 2, 0, 0, 8000, 100, 2, 0, 0] #Hardware PID
#motorgains = [200,2,0,2,0, 200,2,0,2,0] #Software PID
#motorgains = [0000,000,0,0,0 , 0000,000,0,0,0]
setMotorGains(motorgains)
#Steering gains format:
# [ Kp , Ki , Kd , Kaw , Kff]
#
#steeringGains = [5000,0,0,0,0, STEER_MODE_DECREASE] # Disables steering controller
#steeringGains = [20,1,0,1,0, STEER_MODE_DECREASE]
steeringGains = [50, 10, 0, 0, 0, STEER_MODE_DECREASE] # Hardware PID
#steeringGains = [0000,0,0,0,0, STEER_MODE_DECREASE]
setSteeringGains(steeringGains)
setSteeringRate(0)
#Tail gains format:
# [ Kp , Ki , Kd , Kaw , Kff]
#
tailGains = [8000, 20, 1000, 0, 0] #tuned 7/12/12
#tailGains = [0,0,0,0,0] # Disables tail controller
setTailGains(tailGains)
time.sleep(1)
# Gyro Control Experiment ###############################
#exp_time = 1000
#start_angle = -90
#throttle = 300
#tailq_init = [2, \
# 0, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
# 0, exp_time, TAIL_SEG_RAMP, start_angle*10, 0, 0
# ]
#moves = 3
#moveq = [moves, \
# throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
# throttle, throttle, exp_time/2, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_OFF, 0,
# throttle, throttle, exp_time/2, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0
# ]
# Tail range of motion is between 140 and -125 deg! do not exceed
#tailq = [moves, \
# start_angle, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
# 0, exp_time/2, TAIL_GYRO_CONTROL, -90, 0, 0,
# 0, exp_time/2, TAIL_SEG_IDLE, 0, 0, 0
# ]
#################################################33
# Friction Experiments
exp_time = 1000
tailTime = 150
start_angle = -90
throttle = 0
init_moves = 2
tailq_init = [init_moves, \
0, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
0, exp_time, TAIL_SEG_RAMP, start_angle*10, 0, 0
]
moveq_init = [init_moves, \
throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0
]
moves = 3
moveq = [moves, \
throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
throttle, throttle, tailTime, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_OFF, 0,
throttle, throttle, exp_time/2, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_OFF, 0
]
# Tail range of motion is between 140 and -125 deg! do not exceed
tailq = [moves, \
start_angle, exp_time, TAIL_SEG_CONSTANT, 0, 0, 0,
0, tailTime, TAIL_GYRO_CONTROL, -100, 0, 0,
0, exp_time/2, TAIL_SEG_IDLE, 0, 0, 0
]
######################################3
# Friction Experiments - going straight up hill
#exp_time = 5000
#start_angle = -90
#throttle = 400
#moves = 1
#moveq = [moves, \
# throttle, throttle, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE,0
# ]
######################################3
#moves = 2
#moveq = [moves, \
# 300, 300, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 0,
# 200, 200, exp_time, MOVE_SEG_CONSTANT, 0, 0, 0, STEER_MODE_DECREASE, 20]
#tailq = [tmoves, \
# 0, exp_time, TAIL_GYRO_CONTROL, -20, 0, 0
# ]
#tailq = [tmoves, \
# 90.0, 6000, MOVE_SEG_RAMP, -30*10, 0, 0,
# -90.0, 6000, MOVE_SEG_RAMP, 30*10, 0, 0
# ]
#Ramp example
#moves = 5
#moveq = [moves, \
# 0, 0, 0, MOVE_SEG_LOOP_DECL, 0, 0, 0,
# 0, 0, 500, MOVE_SEG_RAMP, 300, 300, 0,
# 150, 150, 1000, MOVE_SEG_CONSTANT, 0, 0, 0,
# 150, 150, 500, MOVE_SEG_RAMP, -300, -300, 0,
# 0, 0, 100, MOVE_SEG_CONSTANT, 0, 0, 0]
#Sin example
#RAD_TO_BAMS16 = (0x7FFF)/(3.1415)
#phase = 3.1415/2 * RAD_TO_BAMS16
#moves = 2
#moveq = [moves, \
# 76, 76, 2000, MOVE_SEG_SIN, 75, 1000, phase,
# 75, 75, 2000, MOVE_SEG_CONSTANT, 0, 0, 0]
shared.runtime = exp_time * moves
#Timing settings
shared.leadinTime = 500
shared.leadoutTime = 500
numSamples = calcNumSamples(moveq)
#numSamples = int(floor((tailq[2]+shared.leadinTime+shared.leadoutTime)*0.150))
shared.imudata = [[]] * numSamples
#Flash must be erased to save new data
if SAVE_DATA:
eraseFlashMem(numSamples)
# Pause and wait to start run, including leadin time
raw_input("Press enter to start run ...")
sendTailQueue(tailq_init)
#sendMoveQueue(moveq_init)
time.sleep(2)
# Trigger telemetry save, which starts as soon as it is received
if SAVE_DATA:
startTelemetrySave(numSamples)
time.sleep(shared.leadinTime / 1000.0)
#Send the move queue to the robot; robot will start processing it
#as soon as it is received
#sendMoveQueue(moveq)
sendTailQueue(tailq)
#Clear loop
#time.sleep(6)
#mqclear = [1, 0, 0, 0, MOVE_SEG_LOOP_CLEAR, 0, 0, 0]
#mqflush = [1, 0, 0, 0, MOVE_SEG_QFLUSH, 0, 0, 0]
if SAVE_DATA:
#print "Sending loop clear!!"
#sendMoveQueue(mqclear)
time.sleep(0.05)
#print "Sending move queue flush!!"
#sendMoveQueue(mqflush)
downloadTelemetry(numSamples)
#Wait for Ctrl+C to exit; this is done in case other messages come in
#from the robot, which are handled by callbackfunc
print "Ctrl + C to exit"
while True:
try:
time.sleep(1)
#print ".",
except KeyboardInterrupt:
break
shared.xb.halt()
shared.ser.close()
print "Done"
