def __init__(self):
self.sensor_obj = rs.sensorRead(
) #can pass filter window size as an argument
self.sensor_obj.initialization()
print('Sensor initalized and calibrated')
file_name_object = tfn.dateS(
sys.argv[1] + ' hovering data_log on '
) #to sync the name of the video and the experiment
file_name_object.forText()
file_name = file_name_object.dateStamp()
self.workbook = xlsxwriter.Workbook(file_name)
self.worksheet = self.workbook.add_worksheet()
self.worksheet.write(0, 0, 'Time(s)')
self.worksheet.write(0, 1, 'Voltage(V)')
self.worksheet.write(0, 2, 'Depth(cm)')
self.worksheet.write(0, 3, 'Current(A)')
self.current_depth = 0
self.line = 0
self.obj_act = act.actuator()
self.obj_act.CDC(100)
self.ser = serial.Serial(
'/dev/ttyUSB0', 9600
) #ACM0 for UNo #object for getting handle of serial communication
def __init__(self): #initialize sensor for calib_depth and create objects of classes
print('Keep the Ubot out of water')
self.sensor_obj = rs.sensorRead() #can pass filter window size as an argument
self.sensor_obj.initialization()
print('Now the Ubot is ready to be waterborne')
#self.dtname_obj = tfn.dateS('height on ')
#self.pwmname_obj = tfn.dateS('PWM on ')
#self.figname_obj = tfn.dateS('Plot on ')
self.act_obj = act.actuator() #can pass frequency as an argument
self.plt_obj = None
#self.dtname_obj.forText()
#self.pwmname_obj.forText()
#self.figname_obj.forFig()
self.ddname = ''
self.dtname = '' #the returned names will be stored in these variables
self.pwmname = ''
self.figname = ''
self.Kp = 0.0001
self.Kd = 0
self.Ki = 0
self.desired_depth = 0
self.current_depth = 0
self.pwm = 0
self.t = 0
self.dt = 0
# both the flags should be zero for operation
self.shutflag = 0
self.writeflag = 0
def __init__(
self
): #initialize sensor for calib_depth and create objects of classes
print('Keep the Ubot out of water')
self.sensor_obj = rs.sensorRead(
) #can pass filter window size as an argument
self.sensor_obj.initialization()
print('Now the Ubot is ready to be waterborne')
#self.dtname_obj = tfn.dateS('height on ')
#self.pwmname_obj = tfn.dateS('PWM on ')
#self.figname_obj = tfn.dateS('Plot on ')
self.act_obj = act.actuator() #can pass frequency as an argument
self.plt_obj = None
#self.dtname_obj.forText()
#self.pwmname_obj.forText()
#self.figname_obj.forFig()
self.ddname = '' #desired depth
self.dtname = '' #the returned names will be stored in these variables
self.pwmname = ''
self.figname = ''
self.velname = ''
self.Kp = 0.05
self.Kd = 0.05
self.Ki = 0
self.desired_depth = 0
self.current_depth = 0
self.pwm = 0
self.t = 0
self.dt = 0
self.velocity = 0
# both the flags should be zero for operation
self.shutflag = 0
self.writeflag = 0
#self.threshold = 2.1972 #for making the bot neutrally buoyant i.e. at any depth it can hover
#Experimentally determined values of PWM and corresponding power values
self.power = [
0, 3.6, 7.68, 10.92, 15.64, 19.19, 23.31, 27.14, 32, 34.58, 37.8
]
self.pulse = [
0, 32.1, 45.7, 55.7, 65.7, 72.1, 79.3, 84.3, 91.4, 95, 100
]
'''
'''
import liveMultiPlots as lmp
import threading
obj = lmp.plotLive('one.txt','two.txt','three.jpg')
t1 = threading.Thread(target = obj.action)
#t1.daemon =True
t1.start()
print("main thread ended")
'''
import actuation as act
import time
obj = act.actuator()
obj.Start(0)
time.sleep(1)
obj.CDC(0)
time.sleep(1)
obj.Stop()
obj.CleanUp()
'''
import time
print('I am going to sleep!')
time.sleep(0.25)
print('I woke up!')
'''
