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Drop_Test.py
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Drop_Test.py
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import smbus
import mraa
import time
import math
import numpy as np
import scipy.signal as signal
import IMU
import sys
#########################################################
# initializing Variables
global A_motor_velocity,B_motor_velocity,C_motor_velocity,D_motor_velocity
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 = [14,20,0,21,36,48,47,32,46] #PWM for GP13,GP12,GP182,GP183 Gpio for GP14,GP15,GP49,GP46,GP47
##########################################################
# 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
print Apwm
###########################################################
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():
global A_motor_velocity,B_motor_velocity,C_motor_velocity,D_motor_velocity
t_a=time.time()
[ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz] = IMU.read()
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)
t = time.time() - timestart
Data.write('%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f\n' % (t,ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz,A_motor_speed))
print '2',ACCz
return ACCz
if ACCz <= -2:
Adir.write(0)
Bdir.write(0)
Cdir.write(0)
Ddir.write(0)
Apwm.write(0)
Bpwm.write(0)
Cpwm.write(0)
Dpwm.write(0)
sys.exit()
filename = time.strftime("%Y-%m-%d_%H:%M:%S")
Data = open(('Drop_Test/CubeSat_Drop').__add__(filename).__add__('.txt'), 'a')
Data.write('Time,ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz,Motor_Speed\n')
timestart = time.time()
while True:
[ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz] = IMU.read()
print '0',ACCz
timer = 0
if ACCz > -.8:
timestarta = time.time()
time.sleep(0.1)
while timer <= 0.8:
Adir.write(0)
Bdir.write(0)
Cdir.write(0)
Ddir.write(0)
Apwm.write(75)
Bpwm.write(75)
Cpwm.write(75)
Dpwm.write(75)
[ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz] = IMU.read()
t=time.time()-timestart
Data.write('%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f\n' % (t,ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz))
timer = time.time() - timestarta
print '1',ACCz
timer_b = time.time()
if ACCz <= -2:
Adir.write(0)
Bdir.write(0)
Cdir.write(0)
Ddir.write(0)
Apwm.write(0)
Bpwm.write(0)
Cpwm.write(0)
Dpwm.write(0)
sys.exit()
timer = time.time() - timestarta
while timer <= 1.0 & timer >= 0.8:
ACCz = roll_control()
timer = time.time() - timestarta
while timer >= 1.0 & timer <= 1.8:
Adir.write(1)
Bdir.write(1)
Cdir.write(1)
Ddir.write(1)
Apwm.write(75)
Bpwm.write(75)
Cpwm.write(75)
Dpwm.write(75)
[ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz] = IMU.read()
t=time.time()-timestart
Data.write('%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f\n' % (t,ACCx,ACCy,ACCz,GYRx,GYRy,GYRz,MAGx,MAGy,MAGz))
timer = time.time() - timestarta
while timer > 1.8:
ACCz = roll_control()
timer = time.time() - timestarta
if ACCz <= -2:
Adir.write(0)
Bdir.write(0)
Cdir.write(0)
Ddir.write(0)
Apwm.write(0)
Bpwm.write(0)
Cpwm.write(0)
Dpwm.write(0)
sys.exit()