def __init__(self, **kwargs):
super(Right, self).__init__(**kwargs)
self.table = Time_Table(pos_hint={
'x': 0,
'y': 0.5
},
size_hint=(1, 0.5))
self.accel = Accel(pos_hint={
'x': 0.6,
'y': 0.25
},
size_hint=(0.4, 0.25),
acc=[50, 50])
self.add_widget(self.table)
self.add_widget(self.accel)
self.map = TrackMap(pos_hint={
'x': 0.099,
'y': 0.2482
},
size_hint=(0.5, 0.25))
self.add_widget(self.map)
#for testing
Clock.schedule_interval(self.acc_test, 0.2)
from time import sleep
#from datetime import datetime, timedelta
from accel import Accel
#from driver import Driver
accel = Accel()
while (True):
data = accel.read_data()
print("x-accel: " + str(data))
sleep(0.2)
def run_simulation(args):
t_end = args.time
dt = args.dt
start_angle = 0.05
accel = Accel((args.accel_stddev_x, args.accel_stddev_z), args.gravity)
gyro = Gyro(args.gyro_stddev, args.gyro_biasdrift_stddev)
filt = ComplementaryFilter(args.filter_acc_weight, args.gravity,
start_angle)
accel_data = []
gyro_data = []
angles = []
true_angle = start_angle
true_angvel = 0.0
ts = np.arange(0, t_end, dt)
true_angles = true_angle * np.ones(shape=ts.shape)
for i, t in enumerate(ts):
acc_obs = accel.get(true_angles[i])
angvel_obs = gyro.get(true_angvel, dt)
accel_data.append(acc_obs)
gyro_data.append(angvel_obs)
ang_est = filt.get(acc_obs, angvel_obs, dt)
angles.append(ang_est)
angles = np.array(angles)
angle_error = angles - true_angles
mean_abs_error = np.mean(np.abs(angle_error))
if not args.no_print:
print("Mean abs error is %f radians (%f degrees)" %
(mean_abs_error, np.degrees(mean_abs_error)))
if not args.no_plot:
import matplotlib.pyplot as plt
plt.figure("Filter Results")
plt.plot(ts, angles, label='Estimated')
plt.plot(ts, true_angles, label='True')
plt.xlabel('Time (s)')
plt.ylabel('Angle (rad)')
plt.title("Estimated vs. True Angle")
plt.legend()
plt.figure("Angle Error")
plt.plot(ts, angle_error)
plt.xlabel('Time (s)')
plt.ylabel('Angle Error (rad)')
plt.title("Angle Error")
accel_data = np.array(accel_data)
accel.plot(ts, accel_data)
gyro_data = np.array(gyro_data)
gyro.plot(ts, gyro_data)
plt.show()
return mean_abs_error
#Accel-Test from accel import Accel import time, datetime ac = Accel() t1 = datetime.datetime.now() a = ac.getResult(1) t2 = datetime.datetime.now() t = t2-t1 print(a) print(t)
def __init__(self, **kwargs):
super(Main, self).__init__(**kwargs)
config = ConfigParser()
config.read('config.ini')
cfgs = config['sensor_values']
#setting up widgets
self.tire_temps = Tire_Temps(pos_hint={
"center_x": 0.5,
"y": 0
},
size_hint=(0.45, 0.25),
temps=[[50, 50, 50, 50], [50, 50, 50, 50],
[50, 50, 50, 50], [50, 50, 50,
50]],
boundary=int(cfgs['infrared_offset']))
self.battery = Parametric_Graph(pos_hint={
"x": 0,
"y": 0.38
},
size_hint=(0.25, 0.45),
label='Voltage (V)',
boundaries=[0, 10, 300, 588])
self.kw = Parametric_Bar(pos_hint={
"x": 0.02,
"y": 0.85
},
size_hint=(0.05, 0.13),
name="Power(kW)",
value=0,
max_value=int(cfgs['kw_max']),
color=[0, 0, 1, 1],
orientation="vertical")
self.cur = Parametric_Bar(pos_hint={
"x": 0.09,
"y": 0.85
},
size_hint=(0.05, 0.13),
name="Current(A)",
value=0,
max_value=int(cfgs['cur_max']),
color=[0, 0, 1, 1],
orientation="vertical")
self.vol = Parametric_Bar(pos_hint={
"x": 0.16,
"y": 0.85
},
size_hint=(0.05, 0.13),
name="Voltage(V)",
value=0,
max_value=int(cfgs['vol_max']),
color=[0, 0, 1, 1],
orientation="vertical")
self.table = Time_Table(pos_hint={
'x': 0.8,
'y': 0.65
},
size_hint=(0.2, 0.35))
self.accel = Accel(pos_hint={
'center_x': 0.5,
'y': 0
},
size_hint=(0.15, 0.25),
acc=[50, 50])
#self.map = TrackMap(pos_hint = {'x':0.85, 'y':0.45}, size_hint = (0.18, 0.3))
self.map = TrackMap2(size_hint=(None, None),
size=(Window.width * 0.3, Window.height * 0.5),
pos=(Window.width * 0.7, Window.height * 0.2))
#pos_hint={'x': 0.75, 'y': 0.1}, size_hint=(0.2, 0.35)
self.pc_status = Pc_Status(pos_hint={
"x": 0.4,
"y": 0.85
},
size_hint=(0.2, 0.15))
self.apps = Parametric_Bar(pos_hint={
"x": 0.35,
"y": 0.65
},
size_hint=(0.05, 0.13),
name="APPS(%)",
value=0,
max_value=int(cfgs['apps_max']),
color=[0, 1, 0, 1],
orientation="vertical")
self.brake = Parametric_Bar(pos_hint={
"x": 0.42,
"y": 0.65
},
size_hint=(0.05, 0.13),
name="Brake(%)",
value=0,
max_value=int(cfgs['brake_max']),
color=[1, 0, 0, 1],
orientation="vertical")
self.bias = Brake_Bias(pos_hint={
"x": 0.35,
"y": 0.5
},
size_hint=(0.1, 0.1),
percentage=0)
self.rpmbar = RpmBar(pos_hint={
"x": 0.35,
"y": 0.8
},
size_hint=(0.35, 0.05),
value=200,
max_value=int(cfgs['rpm_max']),
color=[1, 0, 0, 1])
self.motor_temp = Icon_Indicator(pos_hint={
"x": 0.3,
"y": 0.35
},
size_hint=(0.1, 0.1),
name="Motor Temp",
value=0,
unit="°C",
boundaries=[
int(cfgs['motor_temp_warn']),
int(cfgs['motor_temp_crit'])
],
source="assets/motor_icon.png",
color=[1, 1, 1, 1],
opacity=0.4)
self.inv_temp = Icon_Indicator(pos_hint={
"x": 0.4,
"y": 0.35
},
size_hint=(0.1, 0.1),
name="Inverter Temp",
value=0,
unit="°C",
boundaries=[
int(cfgs['inv_temp_warn']),
int(cfgs['inv_temp_crit'])
],
source="assets/inverter2.png",
color=[1, 1, 1, 1],
opacity=0.4)
self.bat_temp = Icon_Indicator(pos_hint={
"x": 0.5,
"y": 0.35
},
size_hint=(0.1, 0.1),
name="Battery Temp",
value=0,
unit="°C",
boundaries=[
int(cfgs['battery_temp_warn']),
int(cfgs['battery_temp_crit'])
],
source="assets/battery4.png",
color=[1, 1, 1, 1],
opacity=0.6)
self.gps_speed = Parametric_Label(pos_hint={
"x": 0.57,
"y": 0.65
},
size_hint=(0.07, 0.1),
name1="0",
name2="GPS Speed",
font1="32sp")
self.hall_speed = Parametric_Label(pos_hint={
"x": 0.635,
"y": 0.65
},
size_hint=(0.07, 0.1),
name1="0",
name2="Sensor Speed",
font1="32sp")
self.dashboard = Dashboard(pos_hint={
"x": 0.01,
"y": 0.03
},
size_hint=(0.3, 0.33))
self.drs_button = Drs_Button(pos_hint={
"x": 0.5,
"y": 0.65
},
size_hint=(0.05, 0.05))
self.steering_wheel = Icon_Indicator(
pos_hint={
"x": 0.48,
"y": 0.51
},
size_hint=(0.07, 0.07),
name="Steering Angle",
value=0,
unit="°",
boundaries=[100, 120],
source="assets/steering_wheel2.png",
color=[0.8, 0.8, 0.8, 1],
angle=0,
opacity=1)
self.downforce = Icon_Indicator(pos_hint={
"x": 0.6,
"y": 0.35
},
size_hint=(0.1, 0.1),
name="Downforce",
value=0,
color=[1, 1, 1, 1],
opacity=0.9,
source="assets/downforce_icon.png")
self.enc_map = Parametric_Label(pos_hint={
"x": 0.595,
"y": 0.49
},
size_hint=(0.07, 0.1),
name1="0",
name2="Encoder Map",
font1="32sp")
#adding widgets
self.add_widget(self.battery)
self.add_widget(self.tire_temps)
self.add_widget(self.kw)
self.add_widget(self.cur)
self.add_widget(self.vol)
self.add_widget(self.table)
self.add_widget(self.accel)
self.add_widget(self.map)
self.add_widget(self.pc_status)
self.add_widget(self.apps)
self.add_widget(self.brake)
self.add_widget(self.bias)
self.add_widget(self.rpmbar)
self.add_widget(self.motor_temp)
self.add_widget(self.inv_temp)
self.add_widget(self.bat_temp)
self.add_widget(self.gps_speed)
self.add_widget(self.hall_speed)
self.add_widget(self.dashboard)
self.add_widget(self.drs_button)
self.add_widget(self.steering_wheel)
self.add_widget(self.downforce)
self.add_widget(self.enc_map)
#for testing
self.bind(data=self.update)
#!/usr/bin/python
from accel import Accel
import time
from PID import PID
accelorometer = Accel()
accelorometer.wakeFromSleep()
startTimeForCalibration = time.time()
numReadings = 0
sumReadings= 0
while time.time() < (startTimeForCalibration+10.0):
numReadings += 1
sumReadings += accelorometer.getReadingX()
meanReading = 0 - (sumReadings / numReadings)
start_time = time.time()
# Set up the PID control system
pid = PID(P=1, I=1, D=1, Derivator=0, Integrator=0, Integrator_max=50, Integrator_min=-50)
#!/usr/bin/python
from accel import Accel
from PID import PID
from motorPWM import MotorDriverHandler
import time
# train the accelorometer
startTimeForCalibration = time.time()
numReadings = 0
sumReadings= 0
trainingAccel = Accel(0)
trainingAccel.wakeFromSleep()
while time.time() < (startTimeForCalibration+4.0):
sumReadings += trainingAccel.getReadingX()
numReadings += 1
meanReading = 0 - (sumReadings / numReadings)
# Set up the accelorometer
accelorometer = Accel(meanReading)
accelorometer.wakeFromSleep()
# Set up the PID control system
pid = PID(P=3, I=0, D=0, Derivator=0, Integrator=0, Integrator_max=50, Integrator_min=-50)
