def _query_steering_pid_params():
return {
'p' : STORE.get('CAR_STEERING_PID_P', 1.0),
'i' : STORE.get('CAR_STEERING_PID_I', 0.3),
'd' : STORE.get('CAR_STEERING_PID_D', 0.3),
'error_accum_max': STORE.get('CAR_STEERING_PID_EAM', 0.0),
}
def _calibrate_safe_throttle(io_device):
while True:
# Ask user for new values.
safe_forward = _easy_ask("Safe forward throttle (0, 100]",
m.CAR_THROTTLE_FORWARD_SAFE_SPEED,
int,
io_device,
min_val=1,
max_val=100)
safe_reverse = _easy_ask("Safe reverse throttle [-100, 0)",
m.CAR_THROTTLE_REVERSE_SAFE_SPEED,
int,
io_device,
min_val=-100,
max_val=-1)
m.CAR_THROTTLE_FORWARD_SAFE_SPEED = safe_forward
m.CAR_THROTTLE_REVERSE_SAFE_SPEED = safe_reverse
STORE.put('CAR_THROTTLE_FORWARD_SAFE_SPEED',
m.CAR_THROTTLE_FORWARD_SAFE_SPEED)
STORE.put('CAR_THROTTLE_REVERSE_SAFE_SPEED',
m.CAR_THROTTLE_REVERSE_SAFE_SPEED)
_demo_forward_reverse_no_pid()
if _choice_input(prompt="Keep?",
choices=['n', 'y'],
io_device=io_device) == 'y':
break
def _calibrate_safe_throttle():
while True:
# Ask user for new values.
safe_forward = _easy_ask("Safe forward throttle (0, 100]", m.CAR_THROTTLE_FORWARD_SAFE_SPEED, int)
safe_reverse = _easy_ask("Safe reverse throttle [-100, 0)", m.CAR_THROTTLE_REVERSE_SAFE_SPEED, int)
m.CAR_THROTTLE_FORWARD_SAFE_SPEED = safe_forward
m.CAR_THROTTLE_REVERSE_SAFE_SPEED = safe_reverse
STORE.put('CAR_THROTTLE_FORWARD_SAFE_SPEED', m.CAR_THROTTLE_FORWARD_SAFE_SPEED)
STORE.put('CAR_THROTTLE_REVERSE_SAFE_SPEED', m.CAR_THROTTLE_REVERSE_SAFE_SPEED)
_demo_forward_reverse_no_pid()
if input("Keep? [n/y] ") == 'y':
break
def calibrate():
"""
Run the end-to-end calibration routine for this car.
"""
if input("Calibrate microcontroller (e.g. gyro & accelerometer)? [n/y] ") == 'y':
_calibrate_microcontroller()
if input("Calibrate safe throttle speed? [n/y] ") == 'y':
_calibrate_safe_throttle()
if input("Calibrate servo range? [n/y] ") == 'y':
_calibrate_servo_range()
if input("Calibrate steering PID? [n/y] ") == 'y':
_calibrate_steering_pid()
if input("Disable battery monitor? [n/y] ") == 'y':
STORE.put('BATTERY_MONITOR_DISABLED', True)
def _query_motor_params():
return {
'top' : STORE.get('CAR_MOTOR_TOP', 40000),
'steering_left' : STORE.get('CAR_MOTOR_STEERING_LEFT', 2100),
'steering_mid' : STORE.get('CAR_MOTOR_STEERING_MID', 3000),
'steering_right' : STORE.get('CAR_MOTOR_STEERING_RIGHT', 4100),
'throttle_forward': STORE.get('CAR_MOTOR_THROTTLE_FORWARD', 4000),
'throttle_mid' : STORE.get('CAR_MOTOR_THROTTLE_MID', 3000),
'throttle_reverse': STORE.get('CAR_MOTOR_THROTTLE_REVERSE', 2000),
}
def _calibrate_steering_pid(io_device):
_setup_steering_pid()
steering_pid_params = _query_steering_pid_params()
p = steering_pid_params['p']
i = steering_pid_params['i']
d = steering_pid_params['d']
while True:
p, i, d = _easy_ask("Steering PID [space-separated p i d]",
[p, i, d],
lambda s: (float(v) for v in s.split(' ')),
io_device,
adj_delta=0.1)
STORE.put('CAR_STEERING_PID_P', p)
STORE.put('CAR_STEERING_PID_I', i)
STORE.put('CAR_STEERING_PID_D', d)
_setup_steering_pid()
m.forward(2.5) # <-- uses gyro
m.reverse(2.5) # <-- uses gyro
if _choice_input(prompt="Keep?", choices=['n', 'y'], io_device=io_device) == 'y':
break
_setup_steering_pid(save=True)
def _calibrate_steering_pid(io_device):
_setup_steering_pid()
steering_pid_params = _query_steering_pid_params()
p = steering_pid_params['p']
i = steering_pid_params['i']
d = steering_pid_params['d']
while True:
p, i, d = _easy_ask("Steering PID [space-separated p i d]", [p, i, d],
lambda s: (float(v) for v in s.split(' ')),
io_device,
adj_delta=0.1)
STORE.put('CAR_STEERING_PID_P', p)
STORE.put('CAR_STEERING_PID_I', i)
STORE.put('CAR_STEERING_PID_D', d)
_setup_steering_pid()
m.straight(m.CAR_THROTTLE_FORWARD_SAFE_SPEED, 2.5,
invert_output=False) # <-- uses gyro
m.straight(m.CAR_THROTTLE_REVERSE_SAFE_SPEED, 2.5,
invert_output=True) # <-- uses gyro
if _choice_input(prompt="Keep?",
choices=['n', 'y'],
io_device=io_device) == 'y':
break
_setup_steering_pid(save=True)
def _calibrate_servo_range():
_setup_motors()
motor_params = _query_motor_params()
steering_left = motor_params['steering_left']
steering_mid = motor_params['steering_mid']
steering_right = motor_params['steering_right']
_setup_motors(30000)
m.set_steering(45.0)
v = _easy_ask("Steering left PWM value", steering_left, int)
while True:
steering_left = v
STORE.put('CAR_MOTOR_STEERING_LEFT', steering_left)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(45.0)
v = _easy_ask("Steering left PWM value", steering_left, int)
if v == steering_left:
break # break when the user doesn't change the value
_setup_motors(30000)
m.set_steering(-45.0)
v = _easy_ask("Steering right PWM value", steering_right, int)
while True:
steering_right = v
STORE.put('CAR_MOTOR_STEERING_RIGHT', steering_right)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(-45.0)
v = _easy_ask("Steering right PWM value", steering_right, int)
if v == steering_right:
break # break when the user doesn't change the value
_setup_motors()
m.set_steering(0)
v = _easy_ask("Steering mid PWM value", steering_mid, int)
while True:
steering_mid = v
STORE.put('CAR_MOTOR_STEERING_MID', steering_mid)
_setup_motors()
_demo_forward_reverse_no_pid()
v = _easy_ask("Steering mid PWM value", steering_mid, int)
if v == steering_mid:
break # break when the user doesn't change the value
_setup_motors(save=True)
def _calibrate_steering_pid():
_setup_steering_pid()
steering_pid_params = _query_steering_pid_params()
p = steering_pid_params['p']
i = steering_pid_params['i']
d = steering_pid_params['d']
while True:
p, i, d = _easy_ask("Steering PID [space-separated p i d]", (p, i, d), lambda s: tuple(float(v) for v in s.split(' ')))
STORE.put('CAR_STEERING_PID_P', p)
STORE.put('CAR_STEERING_PID_I', i)
STORE.put('CAR_STEERING_PID_D', d)
_setup_steering_pid()
m.forward(2.5) # <-- uses gyro
m.reverse(2.5) # <-- uses gyro
if input("Keep? [n/y] ") == 'y':
break
_setup_steering_pid(save=True)
def demo_mid(new_val):
STORE.put('CAR_MOTOR_STEERING_MID', new_val)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(0.0) # <-- mid-steering ("straight")
def demo_right(new_val):
STORE.put('CAR_MOTOR_STEERING_RIGHT', new_val)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(-45.0) # <-- max right
def demo_left(new_val):
STORE.put('CAR_MOTOR_STEERING_LEFT', new_val)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(45.0) # <-- max left