def full_calibrate(self):
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def full_calibrate(self):
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def full_calibrate(self):
#first, calibrate droplet spin for one direction. This will give us motor sign and relative values for the three motors.
#then calibrate directions 0, 2, and 4 (or 1, 3, and 5)
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def full_calibrate(self):
#first, calibrate droplet spin for one direction. This will give us motor sign and relative values for the three motors.
#then calibrate directions 0, 2, and 4 (or 1, 3, and 5)
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def process_and_transmit_line(line):
byte_strs = [str(line[i])+str(line[i+1]) for i in range(1,len(line)-1,2)]
byte_sum=0
for b in byte_strs:
byte_sum+=int(b,16)
byte_sum-=int(byte_strs[-1],16)
if(format(0xFF&((0xFF^(byte_sum & 0xFF))+1),'02X') != byte_strs[-1]):
print("checksum mismatch?")
print("\t" + format(0xFF&((0xFF^(byte_sum & 0xFF))+1),'02X'))
print("\t" + byte_strs[-1])
dat = ''.join([chr(int(b,16)) for b in byte_strs])
#print(dat)
Serial.write(dat)
def __init__(self):
self.rr = RR_API()
self.rr.Connect("localhost")
port_h = serial.open_serial_port("COM9")
serial.set_global_port(port_h)
if id == "ROOT":
id = rootID
str = '"{0}"->{{{1:.0f}, {2:.0f}, {3:.1f}}}'.format(id, xPositions[i], yPositions[i], orientations[i])
print(str,end="")
file.write(str)
if i is not (numFids-1):
print(", ",end="")
file.write(", ")
print("}},")
file.write('}},\n')
timeStr = time.strftime("%d%m%Y_%H%M%S")
root = "ROOT"
with open("rnbCalibData_{0}.txt".format(timeStr),'w') as f:
with serial.Wrapper("COM3") as port:
while True:
while port.inWaiting() > 0:
data = port.readLine()
data = data.strip()
idMatch = re.match("My ID is: ([0-9A-F]{4})", data)
dataMatch = re.match('\{"([0-9A-F]{4})", "([0-9A-F]{4})", \{\{-?\d+,-?\d+,-?\d+,-?\d+,-?\d+,-?\d+\},\{-?\d+,-?\d+,-?\d+,-?\d+,-?\d+,-?\d+\},\{-?\d+,-?\d+,-?\d+,-?\d+,-?\d+,-?\d+\},\{-?\d+,-?\d+,-?\d+,-?\d+,-?\d+,-?\d+\},\{-?\d+,-?\d+,-?\d+,-?\d+,-?\d+,-?\d+\},\{-?\d+,-?\d+,-?\d+,-?\d+,-?\d+,-?\d+\}\}\},', data)
if idMatch:
root = idMatch.group(1)
elif dataMatch:
root = dataMatch.group(2)
print(data[:-2],end=', ')
f.write(data[:-2])
f.write(', ')
printRRData(f, root)
else:
def __init__(self):
self.rr = RR_API()
self.rr.Connect("localhost")
port_h = serial.open_serial_port("COM9")
serial.set_global_port(port_h)
def __del__(self):
serial.cleanup()
self.rr.close()
print("Finished cleaning up myself.")
def calibrate_droplet_straight(self, direction, fName=None):
alpha = 1. #reflection coefficient
gamma = 2. #expansion coefficient
rho = -0.5 #contraction coefficient
sigma = 0.5 #shrink coefficient
x_0 = np.array([0,0])
x_1 = np.array([100,-100])
x_2 = np.array([-100,100])
spx = np.array([x_0, x_1, x_2])
old_spx = np.zeros((3,2))
if fName is None:
settings_history_fName = 'dmc_data_%s.csv'%("cw" if cw_q else "ccw")
simplex_history_fName = 'dmc_data_%s.csv'%("cw" if cw_q else "ccw")
else:
settings_history_fName = fName + "_%s_hist.csv"%(direction)
simplex_history_fName = fName + "_%s_spx.csv"%(direction)
settings_history_file = open(settings_history_fName,'w')
settings_history_file.write('mot0set, mot1set, mot2set, radius, sign, distance_traveled\n')
simplex_history_file = open(simplex_history_fName,'w')
simplex_history_file.write('spx00, spx01, spx02, rad0, spx10, spx11, spx12, rad1, spx20, spx21, spx22, rad2, spx30, spx31, spx32, rad3\n')
finished = False
def fun(x):
(radius, travel_dir, dist_traveled) =self.test_straight_settings(x, direction, settings_history_file)
return -radius - travel_dir*dist_traveled
try:
while(True):
spx = np.array(sorted(spx, key=fun))
if str(spx) == str(old_spx):
finished = True
old_spx = copy.deepcopy(spx)
func_values = [fun(point) for point in spx]
output_array = np.array(map(lambda spx_point, radius: np.append(spx_point, radius), spx, func_values)).flatten().tolist()
simplex_history_file.write(",".join(map(str, output_array))+"\n")
simplex_history_file.flush()
print("spx: %s"%(str(spx)))
x_o = np.mean(spx[:-1],0).astype(int)
x_r = (x_o + alpha*(x_o - spx[-1])).astype(int)
if (fun(x_r)<fun(spx[-2])) and (fun(x_r)>=fun(spx[0])):
print("Reflecting.")
spx[-1] = x_r
elif fun(x_r)<fun(spx[0]):
x_e = (x_o + gamma*(x_o-spx[-1])).astype(int)
if fun(x_e)<fun(x_r):
print("Expanding.")
spx[-1] = x_e
else:
print("Reflecting.")
spx[-1] = x_r
else:
x_c = (x_o + rho*(x_o-spx[-1])).astype(int)
if fun(x_c)<fun(spx[-1]):
print("Contracting.")
spx[-1] = x_c
else:
for i in range(1,3):
spx[i] = (spx[0] + sigma*(spx[i]-spx[0])).astype(int)
if finished:
set_motors(i, *spx[0])
print("We're done straightening direction %d"%direction)
settings_history_file.close()
simplex_history_file.close()
return cw_q
except KeyboardInterrupt:
print("Calibration interrupted by user.")
settings_history_file.close()
simplex_history_file.close()
serial.cleanup()
def set_motors(direction, mot0val, mot1val, mot2val):
serial.write("cmd set_motors %d %d %d %d"%(direction, mot0val, mot1val, mot2val))
#Once more, just to be sure.
serial.write("cmd set_motors %d %d %d %d"%(direction, mot0val, mot1val, mot2val))
def set_motors(direction, mot0val, mot1val, mot2val):
serial.write("cmd set_motors %d %d %d %d" %
(direction, mot0val, mot1val, mot2val))
#Once more, just to be sure.
serial.write("cmd set_motors %d %d %d %d" %
(direction, mot0val, mot1val, mot2val))
def set_led(r, g, b):
serial.write("cmd set_led rgb %d %d %d" % (r, g, b))
def __init__(self):
self.rr = RoboRealmInterface()
port_h = serial.open_serial_port("COM10")
serial.set_global_port(port_h)
import MySerialWrapper as Serial
import time
PROGRAM_DELAY = 6.0 #seconds
programTime = PROGRAM_DELAY-0.50
bytespersec = Serial.baud/8
secondsPerLine = (21./bytespersec) #21 is the no. of bytes of each line
lineCount = int(PROGRAM_DELAY*0.9/secondsPerLine)
#need to set the two lines below based on your system.
port = Serial.open_serial_port("COM7")
hexFilePath = "C:\Users\Kailaash\Documents\Atmel Studio\Droplets\Droplets\Debug\Droplets.hex"
Serial.set_global_port(port)
#count = lineCount
now = 0
def process_and_transmit_line(line):
byte_strs = [str(line[i])+str(line[i+1]) for i in range(1,len(line)-1,2)]
byte_sum=0
for b in byte_strs:
byte_sum+=int(b,16)
byte_sum-=int(byte_strs[-1],16)
if(format(0xFF&((0xFF^(byte_sum & 0xFF))+1),'02X') != byte_strs[-1]):
print("checksum mismatch?")
print("\t" + format(0xFF&((0xFF^(byte_sum & 0xFF))+1),'02X'))
print("\t" + byte_strs[-1])
dat = ''.join([chr(int(b,16)) for b in byte_strs])
#print(dat)
Serial.write(dat)
def set_led(r, g, b):
serial.write("cmd set_led rgb %d %d %d"%(r, g, b))
def calibrate_droplet_straight(self, direction, fName=None):
alpha = 1. #reflection coefficient
gamma = 2. #expansion coefficient
rho = -0.5 #contraction coefficient
sigma = 0.5 #shrink coefficient
x_0 = np.array([0, 0])
x_1 = np.array([100, -100])
x_2 = np.array([-100, 100])
spx = np.array([x_0, x_1, x_2])
old_spx = np.zeros((3, 2))
if fName is None:
settings_history_fName = 'dmc_data_%s.csv' % ("cw"
if cw_q else "ccw")
simplex_history_fName = 'dmc_data_%s.csv' % ("cw"
if cw_q else "ccw")
else:
settings_history_fName = fName + "_%s_hist.csv" % (direction)
simplex_history_fName = fName + "_%s_spx.csv" % (direction)
settings_history_file = open(settings_history_fName, 'w')
settings_history_file.write(
'mot0set, mot1set, mot2set, radius, sign, distance_traveled\n')
simplex_history_file = open(simplex_history_fName, 'w')
simplex_history_file.write(
'spx00, spx01, spx02, rad0, spx10, spx11, spx12, rad1, spx20, spx21, spx22, rad2, spx30, spx31, spx32, rad3\n'
)
finished = False
def fun(x):
(radius, travel_dir, dist_traveled) = self.test_straight_settings(
x, direction, settings_history_file)
return -radius - travel_dir * dist_traveled
try:
while (True):
spx = np.array(sorted(spx, key=fun))
if str(spx) == str(old_spx):
finished = True
old_spx = copy.deepcopy(spx)
func_values = [fun(point) for point in spx]
output_array = np.array(
map(lambda spx_point, radius: np.append(spx_point, radius),
spx, func_values)).flatten().tolist()
simplex_history_file.write(",".join(map(str, output_array)) +
"\n")
simplex_history_file.flush()
print("spx: %s" % (str(spx)))
x_o = np.mean(spx[:-1], 0).astype(int)
x_r = (x_o + alpha * (x_o - spx[-1])).astype(int)
if (fun(x_r) < fun(spx[-2])) and (fun(x_r) >= fun(spx[0])):
print("Reflecting.")
spx[-1] = x_r
elif fun(x_r) < fun(spx[0]):
x_e = (x_o + gamma * (x_o - spx[-1])).astype(int)
if fun(x_e) < fun(x_r):
print("Expanding.")
spx[-1] = x_e
else:
print("Reflecting.")
spx[-1] = x_r
else:
x_c = (x_o + rho * (x_o - spx[-1])).astype(int)
if fun(x_c) < fun(spx[-1]):
print("Contracting.")
spx[-1] = x_c
else:
for i in range(1, 3):
spx[i] = (spx[0] + sigma *
(spx[i] - spx[0])).astype(int)
if finished:
set_motors(i, *spx[0])
print("We're done straightening direction %d" % direction)
settings_history_file.close()
simplex_history_file.close()
return cw_q
except KeyboardInterrupt:
print("Calibration interrupted by user.")
settings_history_file.close()
simplex_history_file.close()
serial.cleanup()
def move_steps(direction, num_steps):
serial.write("cmd move_steps %d %d"%(direction, num_steps))
def move_steps(direction, num_steps):
serial.write("cmd move_steps %d %d" % (direction, num_steps))
def stop_walk():
serial.write("cmd stop_walk")
def stop_walk():
serial.write("cmd stop_walk")
def __init__(self):
self.rr = RoboRealmInterface()
port_h = serial.open_serial_port("COM10")
serial.set_global_port(port_h)
def __del__(self):
serial.cleanup()
self.rr.close()
print("Finished cleaning up myself.")
