def main(start_vel, end_vel):
"""
Performs a step response test and saves the data to a csv.
"""
test_len = 10 # Length of test in seconds.
read_frq = 100 # Frequency of reads
step_time = 1 # Time (in sec) at which to perform step.
comms = PIC_USB(0x0005)
read_period = 1/float(read_frq)
STEPPED = False
motor_speed = start_vel[0]
motor_dir = start_vel[1]
print("STARTING STEP RESPONSE TEST")
data = []
print("\tStarting at speed {}, dir {}".format(motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
test_start_time = time.clock()
prev_read_quad_time = test_start_time
prev_quad_counter = comms.get_quad_info()["counter"]
while time.clock() - test_start_time < test_len:
read_start = time.clock()
this_read = {}
if read_start > step_time and not STEPPED:
motor_speed = end_vel[0]
motor_dir = end_vel[1]
print("\tStepping to speed {}, dir {}".format(motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
STEPPED = True
read_quad_time = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_quad_time
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(quad_info["counter"] - prev_quad_counter) / (read_quad_time - prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_quad_time
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
print("\tTest Concluded. Writing data...")
filename = "step_response_{0[0]}-{0[1]}_to_{1[0]}-{1[1]}".format(start_vel, end_vel)
headers = ["time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter", "quad_overflow", "quad_calc_speed"]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING STEP RESPONSE TEST")
def main():
SERVO_MIN = 120
SERVO_MAX = 450
SERVO_CENTER = int(((SERVO_MAX - SERVO_MIN)/2.) + SERVO_MIN)
c = PIC_USB(0x0005)
c.debug_servo_set_freq(50)
c.debug_servo_set_pos(4, 300)
def main(start_spd, end_spd, steps, direction):
"""
Performs a motor deadband test, prints the result, and saves the data to a csv.
"""
read_frq = 300 # Frequency of reads
settle_period = 2 # Specify time (s) to let motor settle before assessing deadband
moving_threshold = 10 # Number of ticks/second to consider the motor to have left the deadband
comms = PIC_USB(0x0005)
read_period = 1/float(read_frq)
motor_speed = start_spd
motor_dir = direction
data = []
prev_read_quad_time = time.clock()
prev_quad_counter = comms.get_quad_info()["counter"]
speeds = range(start_spd, end_spd, steps)
for spd in speeds:
set_start = time.clock()
print("\tSetting motor speed to {}.".format(spd))
comms.command_dcmotor(spd, motor_dir)
motor_speed = spd
while time.clock() - set_start < settle_period:
this_read = {}
read_start = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_start
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(quad_info["counter"] - prev_quad_counter) / (read_start - prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_start
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
# After motor has "settled"
settle_check_time = time.clock()
quad_info = comms.get_quad_info()
settle_vel = abs(quad_info["counter"] - prev_quad_counter) / (settle_check_time - prev_read_quad_time)
if settle_vel > moving_threshold:
print("\tDeadband end identified at speed {}.".format(spd))
break
print("\tTest Concluded. Writing data...")
filename = "deadband_{0}-{1}_steps{2}_{3}".format(start_spd, end_spd, steps, direction)
headers = ["time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter", "quad_overflow", "quad_calc_speed"]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING DEADBAND TEST")
def main():
print("START")
loop_time = .01 # How often to run the main loop, in seconds
while True:
start_time = time.clock()
print(chr(27) + "[2J")
# quad_info()
try:
debug_uart_buffers()
debug_uart_status()
except Exception, e:
print "Error occurred. {}".format(e)
traceback.print_exc()
print "Retrying..."
comms = PIC_USB(0x0005)
while (time.clock() - start_time) < loop_time:
pass
import time
from usb_vendor import PIC_USB
# Product IDs: Master PIC is 0x0004, Rocket PIC is 0x0005, Barge PIC is 0x0006
comms = PIC_USB(0x0004)
def main():
print("START")
loop_time = .25 # How often to run the main loop, in seconds
while True:
start_time = time.clock()
# rocket_info()
debug_uart_buffers()
while (time.clock() - start_time) < loop_time:
pass
def rocket_info():
info = comms.get_rocket_info()
print "Rocket Tilt {} | Rocket Speed {} | Rocket State {} | Motor Speed {} | Stepper Speed {}".format(
info["tilt"], info["speed"], info["state"], info["motor_speed"],
info["stepper_speed"])
def debug_uart_buffers():
info = comms.debug_uart_buffers()
rx = info["rx"]
tx = info["tx"]
print "TX_head {} | TX_tail {} | TX_count {} || RX_head {} | RX_tail {} | RX_count {}".format(
tx["head"],
def main(start_spd, end_spd, steps, direction):
"""
Performs a motor deadband test, prints the result, and saves the data to a csv.
"""
read_frq = 300 # Frequency of reads
settle_period = 2 # Specify time (s) to let motor settle before assessing deadband
moving_threshold = 10 # Number of ticks/second to consider the motor to have left the deadband
comms = PIC_USB(0x0005)
read_period = 1 / float(read_frq)
motor_speed = start_spd
motor_dir = direction
data = []
prev_read_quad_time = time.clock()
prev_quad_counter = comms.get_quad_info()["counter"]
speeds = range(start_spd, end_spd, steps)
for spd in speeds:
set_start = time.clock()
print("\tSetting motor speed to {}.".format(spd))
comms.command_dcmotor(spd, motor_dir)
motor_speed = spd
while time.clock() - set_start < settle_period:
this_read = {}
read_start = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_start
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(
quad_info["counter"] -
prev_quad_counter) / (read_start - prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_start
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
# After motor has "settled"
settle_check_time = time.clock()
quad_info = comms.get_quad_info()
settle_vel = abs(quad_info["counter"] - prev_quad_counter) / (
settle_check_time - prev_read_quad_time)
if settle_vel > moving_threshold:
print("\tDeadband end identified at speed {}.".format(spd))
break
print("\tTest Concluded. Writing data...")
filename = "deadband_{0}-{1}_steps{2}_{3}".format(start_spd, end_spd,
steps, direction)
headers = [
"time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter",
"quad_overflow", "quad_calc_speed"
]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING DEADBAND TEST")
def main(speed, direction):
comms = PIC_USB(0x0005)
comms.command_dcmotor(speed, direction)
import time
from usb_vendor import PIC_USB
comms = PIC_USB()
def main():
print("START")
loop_time = .25 # How often to run the main loop, in seconds
while True:
start_time = time.clock()
rocket_info()
while (time.clock() - start_time) < loop_time:
pass
def rocket_info():
info = comms.get_rocket_info()
print "Rocket Tilt {} | Rocket Speed {} | Rocket State {}".format(
info["tilt"], info["speed"], info["state"])
def debug_uart_buffers():
info = comms.debug_uart_buffers()
rx = info["rx"]
tx = info["tx"]
print "TX_head {} | TX_tail {} | TX_count {} || RX_head {} | RX_tail {} | RX_count {}".format(
tx["head"],
tx["tail"],
tx["count"],
def main(start_vel, end_vel):
"""
Performs a step response test and saves the data to a csv.
"""
test_len = 10 # Length of test in seconds.
read_frq = 100 # Frequency of reads
step_time = 1 # Time (in sec) at which to perform step.
comms = PIC_USB(0x0005)
read_period = 1 / float(read_frq)
STEPPED = False
motor_speed = start_vel[0]
motor_dir = start_vel[1]
print("STARTING STEP RESPONSE TEST")
data = []
print("\tStarting at speed {}, dir {}".format(motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
test_start_time = time.clock()
prev_read_quad_time = test_start_time
prev_quad_counter = comms.get_quad_info()["counter"]
while time.clock() - test_start_time < test_len:
read_start = time.clock()
this_read = {}
if read_start > step_time and not STEPPED:
motor_speed = end_vel[0]
motor_dir = end_vel[1]
print("\tStepping to speed {}, dir {}".format(
motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
STEPPED = True
read_quad_time = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_quad_time
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(
quad_info["counter"] - prev_quad_counter) / (read_quad_time -
prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_quad_time
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
print("\tTest Concluded. Writing data...")
filename = "step_response_{0[0]}-{0[1]}_to_{1[0]}-{1[1]}".format(
start_vel, end_vel)
headers = [
"time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter",
"quad_overflow", "quad_calc_speed"
]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING STEP RESPONSE TEST")
def main(speed, direction):
comms = PIC_USB(0x0005)
comms.command_dcmotor(speed, direction)