def InitMPU6050(self):
# Accelerometer Values and Device
self._mpuIdx = ['x', 'y', 'z']
self._a = [0.0, 0.0, 0.0] # Acceleration (g's)
self._w = [0.0, 0.0, 0.0] # Angular rate (deg/s)
self._wFilt = [0.0, 0.0, 0.0] # Filtered Angular rate (deg/s)
self._theta = [0.0, 0.0, 0.0] # Angle (deg)
self._thetaFilt = [0.0, 0.0, 0.0] # Filtered Angle (deg)
self._a_off = [0.66, -0.26, 10.22 - 9.81]
self._w_off = [-1.07, 0.67, -1.55]
#self._a_off = [0.0, 0.0, 0.0]
#self._w_off = [0.0, 0.0, 0.0]
self._thetaXFilt = ComplementaryFilter(alpha=0.05) # alpha = 0.02
self._thetaXFilt2 = Filter(timeConst=0.0)
self._wXFilt = Filter(timeConst=0.0)
self._mpu6050 = mpu6050(0x68) # 0x68 - default I2C slave addr
self._mpu6050.set_accel_range(mpu6050.ACCEL_RANGE_2G)
self._mpu6050.set_gyro_range(mpu6050.GYRO_RANGE_250DEG)
return
class RobotThread(threading.Thread):
def __init__(self,
group=None,
target=None,
name=None,
args=(),
kwargs=None,
verbose=None):
super(RobotThread, self).__init__(group=group,
target=target,
name=name)
self.args = args
self.kwargs = kwargs
self._continueFlag = True # flag to continue running the thread
self._resetFlag = False # flag to reset everything
self._runControl = False # process control
# Initialize the pigpio library
self._pi = pigpio.pi()
# Initialize all hardware
self.InitMPU6050()
self.InitMotors()
self.InitControl()
# Store current time
self._currTimePrev = time.time()
# Sleep time for control loop
self._sleepTime = 0.1
return
@property
def CtrlErr(self):
return self._ctrlErr
@property
def CtrlErrRate(self):
return self._ctrlErrRate
@property
def CtrlOutput(self):
return self._ctrlOutput
@property
def Kp(self):
return self._P
@Kp.setter
def Kp(self, val):
self._P = val
self._pid.setKp(val)
@property
def Ki(self):
return self._I
@Ki.setter
def Ki(self, val):
self._I = val
self._pid.setKi(val)
@property
def Kd(self):
return self._D
@Kd.setter
def Kd(self, val):
self._D = val
self._pid.setKd(val)
def InitMPU6050(self):
# Accelerometer Values and Device
self._mpuIdx = ['x', 'y', 'z']
self._a = [0.0, 0.0, 0.0] # Acceleration (g's)
self._w = [0.0, 0.0, 0.0] # Angular rate (deg/s)
self._wFilt = [0.0, 0.0, 0.0] # Filtered Angular rate (deg/s)
self._theta = [0.0, 0.0, 0.0] # Angle (deg)
self._thetaFilt = [0.0, 0.0, 0.0] # Filtered Angle (deg)
self._a_off = [0.66, -0.26, 10.22 - 9.81]
self._w_off = [-1.07, 0.67, -1.55]
#self._a_off = [0.0, 0.0, 0.0]
#self._w_off = [0.0, 0.0, 0.0]
self._thetaXFilt = ComplementaryFilter(alpha=0.05) # alpha = 0.02
self._thetaXFilt2 = Filter(timeConst=0.0)
self._wXFilt = Filter(timeConst=0.0)
self._mpu6050 = mpu6050(0x68) # 0x68 - default I2C slave addr
self._mpu6050.set_accel_range(mpu6050.ACCEL_RANGE_2G)
self._mpu6050.set_gyro_range(mpu6050.GYRO_RANGE_250DEG)
return
def InitMotors(self):
# Motor Controllers
# Pins - PWM, FWD, REV
#self._motorLookupV = [0, 12]
#self._motorLookupPWM = [0, 100]
self._motorLookupV = [0.0, 1.0, 1.1, 10.4, 11.0, 11.5, 11.8, 12.0]
self._motorLookupPWM = [0.0, 1.0, 2.0, 80.0, 85.0, 90.0, 95.0, 100.0]
self._motorLookup = LookupTable(\
self._motorLookupV, self._motorLookupPWM)
self._motorLeft = MotorControl_pigpio(\
self._pi, 13, 19, 26)
self._motorRight = MotorControl_pigpio(\
self._pi, 16, 20, 21)
self._motorLeft.SetVoltageLookupTable(\
self._motorLookup)
self._motorRight.SetVoltageLookupTable(\
self._motorLookup)
# Motor Encoders
# TODO
return
def InitControl(self):
self._P = 0.8
self._I = 14.0
self._D = 0.12
self._maxIntegralOutput = 9.0
self._pid = PID(self._P, self._I, self._D)
self._pid.setWindup(100.0)
self._ctrlOutputMin = 1.0 # Volts, min motor output
self._ctrlOutputMax = 12.0 # Volts, max motor output
return
def ProcessMPU6050(self):
# Get the raw data
self._mpu6050AccelData = self._mpu6050.get_accel_data()
self._mpu6050GyroData = self._mpu6050.get_gyro_data()
#self._mpu6050AccelData = {'x': 0.0, 'y': 0.0, 'z': 9.81}
#self._mpu6050GyroData = {'x': 0.0, 'y': 0.0, 'z': 0.0}
# Subtract out calibration offsets
for i in range(0, 3): # (0, 1, 2)
self._a[i] = self._mpu6050AccelData[self._mpuIdx[i]] - \
self._a_off[i]
self._w[i] = self._mpu6050GyroData[self._mpuIdx[i]] - \
self._w_off[i]
# Calculate angle from accelerometer data
self._theta[0] = math.degrees( \
math.atan2(self._a[1], self._a[2])) # atan2(ay, az)
# Complementary filter on accel and gyro data
thetaFilt = self._thetaXFilt.Filter(self._dT, self._w[0],
self._theta[0])
# Filter the resulting angle
self._thetaFilt[0] = self._thetaXFilt2.Filter(self._dT, thetaFilt)
# Filter the angular velocity for controller deriviative term
self._wFilt[0] = self._wXFilt.Filter(self._dT, self._w[0])
# If the robot has tipped over, stop trying to control
if math.fabs(self._thetaFilt[0]) > 30.0:
self._runControl = False
return
def ProcessControl(self):
# Calculate the control error and rate
self._ctrlErr = self._thetaFilt[0]
self._ctrlErrRate = -self._wFilt[0]
# Adjust the max integral windup
if self._pid.Ki > 0.0:
self._pid.setWindup(self._maxIntegralOutput / self._pid.Ki)
# Run the PID controller
self._ctrlOutput = self._pid.update(self._ctrlErr, self._ctrlErrRate)
# Control saturation
if self._ctrlOutput > self._ctrlOutputMax:
self._ctrlOutput = self._ctrlOutputMax
if self._ctrlOutput < -self._ctrlOutputMax:
self._ctrlOutput = -self._ctrlOutputMax
# Clear integrator if not running
if not self._runControl:
self._pid.ITerm = 0.0
return
def ProcessMotors(self):
# If not running control, set both motors to brake
if not self._runControl:
self._motorLeft.Brake()
self._motorRight.Brake()
return
# Set directions for left and right motors
self._ctrlLeft = self._ctrlOutput
self._ctrlRight = -self._ctrlOutput
# Write the motor control signal
self._motorLeft.SetVoltage(self._ctrlLeft)
self._motorRight.SetVoltage(self._ctrlRight)
# Process feedback from encoders
# TODO
return
def run(self):
while self._continueFlag:
#print self._runControl
# Calculate time delta
self._currTime = time.time()
self._dT = self._currTime - self._currTimePrev
self._currTimePrev = self._currTime
# Read accelerometer and gyro data and process
self.ProcessMPU6050()
# Run PID Controller
self.ProcessControl()
# Run motor output
self.ProcessMotors()
#logging.debug('running with %s and %s', self.args, self.kwargs)
#time.sleep(self._sleepTime)
# Stop condition
self._pi.stop()
return
def StartControl(self):
self._runControl = True
def StopControl(self):
self._runControl = False
def Stop(self):
self._continueFlag = False
def Reset(self):
self._resetFlag = False
def ProcessCommands(self, cmd, conn):
#print cmd
next = 0
if cmd[0] == "CMD":
if cmd[1] == "START":
t.StartControl()
next = 2
if cmd[1] == "STOP":
t.StopControl()
next = 2
if cmd[0] == "GET":
if cmd[1] == "GAINS":
resp = "RESP GAINS {0} {1} {2} ".format(
self.Kp, self.Ki, self.Kd)
conn.send(resp)
next = 2
if cmd[1] == "PARAMS":
resp = "RESP PARAMS {:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f} ".format(\
self.CtrlErr, self.CtrlErrRate, self.CtrlOutput, \
self._pid.PTerm, self._pid.ITerm * self._pid.Ki, self._pid.DTerm * self._pid.Kd)
conn.send(resp)
next = 2
if cmd[0] == "SET":
if cmd[1] == "GAINS":
t.Kp = float(cmd[2])
t.Ki = float(cmd[3])
t.Kd = float(cmd[4])
resp = "RESP GAINS {0} {1} {2} ".format(
self.Kp, self.Ki, self.Kd)
conn.send(resp)
next = 5
if (next < len(cmd)) and (next > 0):
self.ProcessCommands(cmd[next:], conn)
#9/18/2013 #Initialize IMU object to be used from this module from imu import IMU from robovero.extras import roboveroConfig import time from ComplementaryFilter import ComplementaryFilter from motor import Motor from PID import PIDControl roboveroConfig() # Initialize IMU imu = IMU() #imu.calibrate(0, 0, -1) cfRoll = ComplementaryFilter(0.9, 0) cfPitch = ComplementaryFilter(0.9, 0) motor1 = Motor(1) motor2 = Motor(6) motor3 = Motor(5) motor4 = Motor(4) motors = [motor1, motor2, motor3, motor4] #pidPitch = PIDControl(0, 1) #pidRoll = PIDControl(0, 1) #registers is list of three tuples for registers [(xlow,xhigh),(ylow,yhigh), etc] string = "" while(1):
