def __init__(self):
# control algorithms
self.pid_line_following = my_controller.pid(kp=0.8,
ki=0.0,
kd=0.0,
integral_max=1000,
output_max=1.0,
alpha=0.5)
self.pid_wall_following = my_controller.pid(kp=0.0033,
ki=0.0003,
kd=0.1,
integral_max=1000,
output_max=1.0,
alpha=0.1)
self.pid_speed = my_controller.pid(kp=70.0,
ki=0.0,
kd=100.0,
integral_max=1000,
output_max=50.0,
alpha=0.5)
# controller settings
self.pid_speed_kff = 0.0 # feed forward apart from PID
self.min_speed = 0.5 # m/s
self.max_speed = 2.0 # m/s
self.k_speed = 0.01
self.positional_error_threshold = 350
self.dual_rate = 0.5
self.direction_trim = 0
# controller state
self.direction = 128
self.throttle = 128
self.mode = 0
self.actual_error = 0.0
self.pid_wall = 0.0
self.pid_line = 0.0
self.positional_error = 0.0
self.actual_speed_error_ms = 0.0 # m/s
self.target_speed_ms = 0.0 # m/s
# controller inputs data from STM32 controller board
self.lidar_distance_gauche = 0
self.lidar_distance_droit = 0
self.lidar_distance_haut = 0
self.telemetry_speed = 0
self.telemetry_manual_dir = 0
self.telemetry_manual_thr = 0
self.telemetry_auto_dir = 0
self.telemetry_auto_thr = 0
self.telemetry_start_button = 0
self.actual_speed_ms = 0.0
self.actual_speed_kmh = 0.0
# serial port for STM32 data link
self.port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=3.0)
# global state
self.ia = False # control CNN and image processing
self.running = False # control THROTTLE !!!
self.recording = False # control recording video and data locally
self.dataset = 0 # control recording of a dataset (picture,DIR,THR)
# camera handler
self.video_capture = 0
self.video_broadcast = 0
self.video_recorder = 0
self.video_broadcast_IP_address = '10.42.0.112' # IPv4 address of PC connectd through WiFi and receiving video stream
# camera settings
self.rec_width = 1280
self.rec_height = 720
self.new_width = 160
self.new_height = 90
# camera state
self.image = 0
self.gray = 0
self.init_video()
# AI handler
self.model = 0
# AI state
self.line_pos = 0
# Data logger
self.datalogger = my_datalogger.datalogger("datalogger")
# Dataset
self.dataset_directory = "dataset"
self.dataset_counter = 0
self.dataset_file = None
def __init__(self):
# control algorithms
self.pid_camera_params = {
'kp': 1.5,
'kd': 3.0,
'kd2': 2.0,
'error': 0.0,
'last_error': 0.0,
'next_error': 0.0
}
self.pid_wall_following = my_controller.pid(kp=0.0033,
ki=0.0003,
kd=0.1,
integral_max=1000,
output_max=1.0,
alpha=0.1)
# controller settings
self.min_speed = 146
self.max_speed = 163
self.k_speed = 0.01
self.positional_error_threshold = 350
self.dual_rate = 0.5
self.direction_trim = 0
# controller state
self.direction = 128
self.throttle = 128
self.mode = 0
self.actual_error = 0.0
self.pid_wall = 0.0
self.pid_ai = 0.0
self.positional_error = 0.0
# controller inputs data from STM32 controller board
self.lidar_distance_gauche = 0
self.lidar_distance_droit = 0
self.lidar_distance_haut = 0
self.telemetry_speed = 0
self.telemetry_manual_dir = 0
self.telemetry_manual_thr = 0
self.telemetry_auto_dir = 0
self.telemetry_auto_thr = 0
self.telemetry_mode = 0
# serial port for STM32 data link
self.port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=3.0)
# global state
self.ia = False # control CNN and image processing
self.running = False # control THROTTLE !!!
self.recording = False # control recording video and data locally
# camera handler
self.video_capture = 0
self.video_broadcast = 0
self.video_recorder = 0
self.video_broadcast_IP_address = '10.42.0.112' # IPv4 address of PC connectd through WiFi and receiving video stream
# camera settings
self.rec_width = 1280
self.rec_height = 720
self.new_width = 160
self.new_height = 90
# camera state
self.image = 0
self.init_video()
# AI handler
self.model = 0
# AI settings
self.ia_version = 2
# AI state
self.y_1 = 0
self.y_2 = 0
def __init__(self, host, port):
# init (for client-server communication)
asyncore.dispatcher.__init__(self)
self.create_socket(socket.AF_INET, socket.SOCK_STREAM)
self.set_reuse_addr()
self.bind((host, port))
self.listen(5)
# control
self.pid_camera_params = {
'kp': 1.5,
'kd': 3.0,
'kd2': 2.0,
'error': 0.0,
'last_error': 0.0,
'next_error': 0.0
}
self.pid_wall_following = my_controller.pid(kp=0.0033,
ki=0.0003,
kd=0.1,
integral_max=1000,
output_max=1.0,
alpha=0.1)
self.wall_threshold_min = 40
self.wall_threshold_max = 160
self.wall_distance_middle = 86
self.direction = 128
self.throttle = 128
self.mode = 0
self.min_speed = 146
self.max_speed = 163
self.k_speed = 0.01
self.positional_error_threshold = 350
self.dual_rate = 0.5
self.direction_trim = 0
self.actual_error = 0.0
self.pid_wall = 0.0
self.positional_error = 0.0
# On met -1 pour qu'au premier calcul des pids, les Lidars ne soient pas pris en compte, car nous n'avons pas encore d'acquisition
self.lidar_distance_gauche = 0
self.lidar_distance_droit = 0
self.telemetry_speed = 0
self.telemetry_manual_dir = 0
self.telemetry_manual_thr = 0
self.telemetry_auto_dir = 0
self.telemetry_auto_thr = 0
self.telemetry_mode = 0
# global state
self.ia = False # control CNN and image processing
self.running = False # control THROTTLE !!!
self.recording = False # control recording video and data locally
self.s = 0
self.ia_version = 2
self.model = 0
self.cap_send = 0
self.out_send = 0
self.rec_width = 0
self.rec_height = 0
#self.pc_IP ='10.42.0.188' #PC Section Robotique !
self.pc_IP = '10.42.0.112' #PC HP portable Patrick !
#self.pc_IP ='192.168.1.34' #PC Home Patrick !
#self.pc_IP ='192.168.1.10' #PC Home Patrick !
#self.pc_IP ='10.0.10.50' #test card
#serial port for STM32 communication
self.port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=3.0)
self.y_1 = 0
self.y_2 = 0
self.image = 0
self.video_mode = "hires"
if self.video_mode == "hires":
self.rec_width = 1280
self.rec_height = 720
self.new_width = 160
self.new_height = 90
if self.video_mode == "lores":
self.rec_width = 1280
self.rec_height = 720
self.new_width = 160
self.new_height = 90
self.init_cam()