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CubSAT_RCS_filtered.py
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CubSAT_RCS_filtered.py
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import smbus
import mraa
import time
import math
import numpy as np
import scipy.signal as signal
import IMU
##################################################
# initializing Variables
A_motor_velocity=B_motor_velocity=C_motor_velocity=D_motor_velocity=0
A=B=C=D=E=F=G=H=I=0
P = 0.3 # proportional control value
timer = 1
output = [A,B,C,D,E,F,G,H,I]
Pin = [14,20,0,21,36,48,47,33,46] #PWM for GP13,GP12,GP182,GP183 Gpio for GP14,GP15,GP49,GP48,GP47
######################################################
def butter_lowpass(cutoff, fs, order):
nyq = 0.5 * fs
normal_cutoff = cutoff / nyq
b, a = signal.butter(order, normal_cutoff, btype='low', analog=False)
return b, a
def manual_filt_low(b,a,data_in,data_out):
n = len(b)-1
#print n, data_in, b, a
out = b[0]*data_in[n]/a[0]
n-=1
for x in range(n+1):
out += b[x+1]*data_in[n]/a[0]
out -= a[x+1]*data_out[n]/a[0]
#print n,x+1, out, a[x+1], b[x+1]
n-=1
return out
def floating_array_filter(b,a,in_window,out_window,in_temp):
in_window.append(in_temp)
in_window.pop(0)
out_temp = manual_filt_low(b,a,in_window,out_window)
out_window.append(out_temp)
out_window.pop(0)
return out_temp, out_window, in_window
######################################################
# enabling outputs
for x in xrange(0,4):
output[x] = mraa.Pwm(Pin[x])
output[x].period_us(700)
output[x].enable(True)
#print x, output[x]
for x in xrange(4,9):
output[x] = mraa.Gpio(Pin[x])
output[x].dir(mraa.DIR_OUT)
#print x, output[x]
[Apwm,Bpwm,Cpwm,Dpwm,Adir,Bdir,Cdir,Ddir,mode] = output
output[8].write(1) #Set mode pin to high for pwm/direction
def gyroread():
c = 0
a = time.time()
while c <= timer:
[ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz] = IMU.read()
print "GYRx: %3.2f, GYRy: %3.2f,GYRz: %3.2f" %(GYRx,GYRy,GYRz)
b = time.time()
c = b - a
def A_motor_dir():
global A_motor_speed
if A_motor_velocity >= 0:
A_motor_dir = 1
A_motor_speed = abs(A_motor_velocity)/100
if A_motor_speed > 1:
A_motor_speed = 1
elif A_motor_velocity < 0:
A_motor_dir = 0
A_motor_speed = abs(A_motor_velocity)/100
if A_motor_speed > 1:
A_motor_speed = 1
Adir.write(A_motor_dir)
def B_motor_dir():
global B_motor_speed
if B_motor_velocity >= 0:
B_motor_dir = 1
B_motor_speed = abs(B_motor_velocity)/100
if B_motor_speed > 1:
B_motor_speed = 1
elif B_motor_velocity < 0:
B_motor_dir = 0
B_motor_speed = abs(B_motor_velocity)/100
if B_motor_speed > 1:
B_motor_speed = 1
Bdir.write(B_motor_dir)
def C_motor_dir():
global C_motor_speed
if C_motor_velocity >= 0:
C_motor_dir = 1
C_motor_speed = abs(C_motor_velocity)/100
if C_motor_speed > 1:
C_motor_speed = 1
elif C_motor_velocity < 0:
C_motor_dir = 0
C_motor_speed = abs(C_motor_velocity)/100
if C_motor_speed > 1:
C_motor_speed = 1
Cdir.write(C_motor_dir)
def D_motor_dir():
global D_motor_speed
if D_motor_velocity >= 0:
D_motor_dir = 1
D_motor_speed = abs(D_motor_velocity)/100
if D_motor_speed > 1:
D_motor_speed = 1
elif D_motor_velocity < 0:
D_motor_dir = 0
D_motor_speed = abs(D_motor_velocity)/100
if D_motor_speed > 1:
D_motor_speed = 1
Ddir.write(D_motor_dir)
def roll_control(in_x_window,out_x_window,in_y_window,out_y_window,in_z_window,out_z_window):
t_a=time.time()
global A_motor_velocity,B_motor_velocity,C_motor_velocity,D_motor_velocity
global ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz
[ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz] = IMU.read()
GYRz, out_z_window, in_z_window = floating_array_filter(b,a,in_z_window,out_z_window,GYRz)
A_motor_velocity = P*GYRz + A_motor_velocity
B_motor_velocity = P*GYRz + B_motor_velocity
C_motor_velocity = P*GYRz + C_motor_velocity
D_motor_velocity = P*GYRz + D_motor_velocity
A_motor_dir()
B_motor_dir()
C_motor_dir()
D_motor_dir()
Apwm.write(A_motor_speed)
Bpwm.write(B_motor_speed)
Cpwm.write(C_motor_speed)
Dpwm.write(D_motor_speed)
order = 2
fs = 95 # sample rate, Hz
cutoff = 15 # desired cutoff frequency of the filter, Hz
b,a = butter_lowpass(cutoff, fs, order)
in_x_window = [0.0]*(len(b))
out_x_window = [0.0]*(len(a))
in_y_window = [0.0]*(len(b))
out_y_window = [0.0]*(len(a))
in_z_window = [0.0]*(len(b))
out_z_window = [0.0]*(len(a))
while True:
roll_control(in_x_window,out_x_window,in_y_window,out_y_window,in_z_window,out_z_window)
print "GYRz: %3.2f, A: %3.2f, B: %3.2f, C: %3.2f, D: %3.2f" %(GYRz,A_motor_velocity,B_motor_velocity,C_motor_velocity,D_motor_velocity)
## print "GYRx: %3.2f, GYRy: %3.2f,GYRz: %3.2f" %(GYRx,GYRy,GYRz)