def main():
# import python's standard time module
import time
# import Controller and other blocks from modules
from pyctrl import Controller
from pyctrl.block import Printer, Constant
# initialize controller
hello = Controller()
# add a Printer as a timer
hello.add_timer('message',
Printer(message='Hello World @ {:3.1f} s '), ['clock'],
None,
period=1,
repeat=True)
# Add a timer to stop the controller
hello.add_timer('stop',
Constant(value=0),
None, ['is_running'],
period=5,
repeat=False)
# add a Printer as a sink
hello.add_sink('message',
Printer(message='Current time {:5.3f} s', endln='\r'),
['clock'])
# print controller info
print(hello.info('all'))
try:
# run the controller
print('> Run the controller.')
with hello:
# wait for the controller to finish on its own
hello.join()
print('> Done with the controller.')
except KeyboardInterrupt:
pass
def _test_mip_balance():
import numpy as np
from pyctrl import Controller
from pyctrl.block.container import Container, Input, Output
from pyctrl.block.system import System, Subtract, Differentiator, Sum, Gain
from pyctrl.block.nl import ControlledCombination, Product
from pyctrl.block import Fade, Printer
from pyctrl.system.ss import DTSS
from pyctrl.block.logic import CompareAbsWithHysterisis, SetFilter, State
GRN_LED = 61
PAUSE_BTN = 62
# create mip
mip = Controller()
# add signals
mip.add_signals('theta', 'theta_dot', 'encoder1', 'encoder2', 'pwm1',
'pwm2')
# phi is the average of the encoders
mip.add_signal('phi')
mip.add_filter('phi', Sum(gain=0.5), ['encoder1', 'encoder2'], ['phi'])
# phi dot
mip.add_signal('phi_dot')
mip.add_filter('phi_dot', Differentiator(), ['clock', 'phi'], ['phi_dot'])
# phi dot and steer reference
mip.add_signals('phi_dot_reference', 'phi_dot_reference_fade')
mip.add_signals('steer_reference', 'steer_reference_fade')
# add fade in filter
mip.add_filter('fade', Fade(target=[0, 0.5], period=5),
['clock', 'phi_dot_reference', 'steer_reference'],
['phi_dot_reference_fade', 'steer_reference_fade'])
# state-space matrices
A = np.array([[0.913134, 0.0363383], [-0.0692862, 0.994003]])
B = np.array([[0.00284353, -0.000539063], [0.00162443, -0.00128745]])
C = np.array([[-383.009, 303.07]])
D = np.array([[-1.22015, 0]])
B = 2 * np.pi * (100 / 7.4) * np.hstack((-B, B[:, 1:]))
D = 2 * np.pi * (100 / 7.4) * np.hstack((-D, D[:, 1:]))
ssctrl = DTSS(A, B, C, D)
# state-space controller
mip.add_signals('pwm')
mip.add_filter('controller', System(model=ssctrl),
['theta_dot', 'phi_dot', 'phi_dot_reference_fade'], ['pwm'])
# enable pwm only if about small_angle
mip.add_signals('small_angle', 'small_angle_pwm')
mip.add_filter('small_angle_pwm', Product(), ['small_angle', 'pwm'],
['small_angle_pwm'])
# steering biasing
mip.add_filter(
'steer', ControlledCombination(),
['steer_reference_fade', 'small_angle_pwm', 'small_angle_pwm'],
['pwm1', 'pwm2'])
# set references
mip.set_signal('phi_dot_reference', 0)
mip.set_signal('steer_reference', 0.5)
# add supervisor actions on a timer
# actions are inside a container so that they are executed all at once
mip.add_timer('supervisor',
Container(), ['theta'], ['small_angle', 'is_running'],
period=0.5,
repeat=True)
mip.add_signals('timer/supervisor/theta', 'timer/supervisor/small_angle',
'timer/supervisor/is_running')
mip.add_source('timer/supervisor/theta', Input(), ['theta'])
mip.add_sink('timer/supervisor/small_angle', Output(), ['small_angle'])
mip.add_sink('timer/supervisor/is_running', Output(), ['is_running'])
# add small angle sensor
mip.add_filter(
'timer/supervisor/is_angle_small',
CompareAbsWithHysterisis(threshold=0.11,
hysterisis=0.09,
offset=-0.07,
state=(State.LOW, )), ['theta'],
['small_angle'])
# reset controller and fade
mip.add_sink(
'timer/supervisor/reset_controller',
SetFilter(label=['/controller', '/fade'], on_rise={'reset': True}),
['small_angle'])
# add pause button on a timer
mip.add_source('timer/supervisor/pause_button',
('pyctrl.block', 'Constant'), ['is_running'],
kwargs={'value': 0},
enable=True)
from pyctrl.flask import JSONEncoder, JSONDecoder
json1 = JSONEncoder(sort_keys=True, indent=4).encode(mip)
obj = JSONDecoder().decode(json1)
json2 = JSONEncoder(sort_keys=True, indent=4).encode(obj)
assert json1 == json2
print('json = \n{}'.format(json1))