import time
from api import Api
from motors import Servo, Motor
from remote import Remote
servo = Servo(port=1, min_pulse=750, max_pulse=2250, min_position=0.30, max_position=0.7)
motor = Motor(port=1, duty_cycle=0)
def wave(min=0.0, max=1.0, n=1, pause=0.4):
for x in range(n):
servo.set(min)
time.sleep(pause)
servo.set(max)
time.sleep(pause)
servo.set(0.5)
api = Api()
api.demonize()
remote = Remote()
while True:
# api events
for event, kwargs in api.events:
if event == "wave":
wave(**kwargs)
if event == "set":
servo.set(0.75-float(kwargs["position"])*0.5)
if event == "set_speed":
motor.duty_cycle = kwargs['position']
api.events = []
def __init__(self):
z_pin = 18
angle_one_pin = 13
angle_two_pin = 12
self.z_motor = Motor(z_pin)
self.shoulder_motor = Motor(angle_one_pin, 20 * pi / 180)
self.elbow_motor = Motor(angle_two_pin, 70 * pi / 180)
self.shoulder_motor.change_angle(-1)
self.elbow_motor.change_angle(-1)
from bot_serial import SerialWrapper
from motors import Motor
from recorder import CVCaptureRecorder
if __name__ == '__main__':
parser = argparse.ArgumentParser(
description='Control the potato beer delivery system via an arduino.')
parser.add_argument('dev',
type=str,
help='serial device the arduino is connected to')
args = parser.parse_args()
recorder = CVCaptureRecorder()
serial = SerialWrapper(dev=args.dev, speed=57600)
speed_motor = Motor(serial, arduino_command="S")
direction_motor = Motor(serial, arduino_command="D")
api = Api(recorder=recorder)
api.demonize(port=8000)
while True:
# api events
recorder.update_frame_rate()
recorder.handle_frame()
with api.lock:
for event, kwargs in api.events:
if event == "set":
direction_motor.set(kwargs["position"])
if event == "set_speed":
speed_motor.set(kwargs["position"])
from motors import Motor
import getch
# FRONT_RIGHT min 305
# FRONT_LEFT min 308
# BACK_LEFT min 332
# BACK_RIGHT min 322
m1 = Motor(Motor.FRONT_LEFT)
m2 = Motor(Motor.FRONT_RIGHT)
m3 = Motor(Motor.BACK_LEFT)
m4 = Motor(Motor.BACK_RIGHT)
speed = 270
while True:
c = getch.getch()
if c == 'w':
speed = speed + 1
if c == 's':
speed = speed - 1
m1.setSpeed(speed)
m2.setSpeed(speed)
m3.setSpeed(speed)
m4.setSpeed(speed)
def limitThrust(thrust):
if thrust > 100:
thrush = 100
elif thrust < -100:
thrust = -100
return thrust
# instantiate IMU
# TODO see how to import C interface to python
imu = IMU()
# MyKalman=KalmanFilter(....)
# instantiate motors and put them together in a list
motor1 = Motor(1)
motor2 = Motor(2)
motor3 = Motor(3)
motor4 - Motor(4)
motors = [motor1, motor2, motor3, motor4]
# TODO instantiate PID controllers
rollPID = PID()
pitchPID = PID()
yawPID = PID()
# zPID=PID(.....)
# xposPID=PID(.....)
# yposPID=PID(.....)
############################
# loop
from __future__ import division
from time import sleep, time
from threading import Thread
import Adafruit_PCA9685
import RPi.GPIO as GPIO
pwm = Adafruit_PCA9685.PCA9685()
import configuration
from motors import Motor
from servo import Servo
servo = Servo(GPIO, configuration.servo_pin, 180)
motor_f_r = Motor(configuration.motor_f_r, pwm, GPIO)
motor_f_l = Motor(configuration.motor_f_l, pwm, GPIO)
motor_b_r = Motor(configuration.motor_b_r, pwm, GPIO)
motor_b_l = Motor(configuration.motor_b_l, pwm, GPIO)
current_milli_time = lambda: int(round(time() * 1000))
import matplotlib.pyplot as plt
import random
def sign(num):
return -1 if num < 0 else 1
class PID(Thread):
GPIO.setup("P8_4", GPIO.OUT)
GPIO.output("P8_4", GPIO.HIGH)
GPIO.setup("P8_11", GPIO.OUT)
GPIO.output("P8_11", GPIO.HIGH)
GPIO.setup("P9_15", GPIO.OUT)
GPIO.output("P9_15", GPIO.HIGH)
GPIO.setup("P9_23", GPIO.OUT)
GPIO.output("P9_23", GPIO.HIGH)
##############################
speed = 0
m1 = Motor(1)
m1.setSpeed(speed)
m1.go()
m2 = Motor(2)
m2.setSpeed(speed * (-1))
m2.go()
m3 = Motor(3)
m3.setSpeed(speed)
m3.go()
m4 = Motor(4)
m4.setSpeed(speed * (-1))
m4.go()
class Tortoise:
"""
This is the class which implements the high-level behaviour of the tortoises. In order to make a proper use of the tortoises, an instance of this class should be created.
"""
def __init__(self):
"""
This method creates a tortoise. It initializes the sensors, the variables that control the random motion and creates a file with the PID of the process which has created the tortoise so that the watchdog (a background process) can stops the motors and LEDs in case the user process finishes because of an error. The tortoise is created uncalibrated.
The reasons of termination of a user process could be because of normal termination
or because of an error (exceptions, ctrl-c, ...). When an error happens, the motors
and may be still on. In this case, the motors and LEDs should be turned off
for the battery not to drain.
The solution implemented is to have a background process (a watchdog) running
continously. This process checks if the user process doesn't exist anymore (termination).
If it doesn't, it stops the motors, switches off the LEDs and cleans up all the pins.
In order to identy that the user script has finished, a file with the name [PID].pid is
created in the folder ~/.tortoise_pids/, where [PID] is the PID of the user process.
Regarding calibration, the purpose was to avoid calibration everytime the tortoise object is created.
However, this hasn't been implemented yet. The idea could be to save the light
values in a file and read that file when creating the tortoise object.
Light conditions could have changed, so this should be done carefully.
At the moment, the tortoise object is created without calibration. If the users
want to use the light sensors, they need will need to execute the calibrateLight
function before using those sensors.
"""
# Variables that control the calibration of the light sensors
global isLightCalibrated
global lowerBoundLight
global upperBoundLight
isLightCalibrated = False
lowerBoundLight = 0
upperBoundLight = 0
# --- Variables that control the calibration of the light sensors ---
# No warnings from the GPIO library
GPIO.setwarnings(False)
# Variables that control the random motion
self.lastRandomCommand = None
self.timesSameRandomCommandExecuted = 0
self.numberRepeatsRandomCommand = -1
self.lastRandomStepsWheelA = None
self.lastRandomStepsWheelB = None
self.lastRandomDirection = None
# --- Variables that control the random motion ---
# Setting the motors, sensors and actuators
# Pin numbers of the motors
motorPins = [13, 6, 5, 7, 20, 10, 9, 11]
self.A = Motor(motorPins[0], motorPins[1], motorPins[2], motorPins[3])
self.B = Motor(motorPins[4], motorPins[5], motorPins[6], motorPins[7])
self.sensors = Sensors()
self.actuators = Actuators()
# Position 1 of the light sensors area in the PCB assigned to pin 17
self.sensors.setSensor(enums.SensorType.light, 1, 17)
# Position 2 of the light sensors area in the PCB assigned to pin 4
self.sensors.setSensor(enums.SensorType.light, 2, 4)
# Position 1 of the touch sensors area in the PCB assigned to pin 3
self.sensors.setSensor(enums.SensorType.emergencyStop, 1, 3)
# Position 2 of the touch sensors area in the PCB assigned to pin 27
self.sensors.setSensor(enums.SensorType.touch, 2, 27)
# Position 3 of the touch sensors area in the PCB assigned to pin 2
self.sensors.setSensor(enums.SensorType.touch, 3, 2)
# Position 4 of the touch sensors area in the PCB assigned to pin 18
self.sensors.setSensor(enums.SensorType.touch, 4, 18)
# Position 1 of the proximity sensors area in the PCB assigned to pin 19
self.sensors.setSensor(enums.SensorType.proximity, 1, 19)
# Position 2 of the proximity sensors area in the PCB assigned to pin 21
self.sensors.setSensor(enums.SensorType.proximity, 2, 21)
# Position 3 of the proximity sensors area in the PCB assigned to pin 22
self.sensors.setSensor(enums.SensorType.proximity, 3, 22)
# Position 4 of the proximity sensors area in the PCB assigned to pin 26
self.sensors.setSensor(enums.SensorType.proximity, 4, 26)
# Positions of the LEDs area in the PCB assigned to pins 8, 16, 25, 12
ledPins = [8, 16, 25, 12]
self.actuators.initActuator(enums.ActuatorType.led, 1, ledPins[0])
self.actuators.initActuator(enums.ActuatorType.led, 2, ledPins[1])
self.actuators.initActuator(enums.ActuatorType.led, 3, ledPins[2])
self.actuators.initActuator(enums.ActuatorType.led, 4, ledPins[3])
# --- Setting the motors, sensors and actuators ---
# Times pressed the touch sensor for the latching behavour
self.lastTouch = [-1,-1,-1]
# Minimum milliseconds to send to the motors as delay
self.minDelayMotors = 2
# Creation of a file with the PID of the process
# PID of process
pid = os.getpid()
# ~/.tortoise_pids/
directory = os.path.expanduser("~") + "/.tortoise_pids/"
# Filename: [PID].pid
f = open(directory + str(pid) + ".pid", "w")
# First line: motor pins
f.write(str(motorPins[0]) + " " + str(motorPins[1]) + " " + str(motorPins[2]) + " " + str(motorPins[3]) + " " + str(motorPins[4]) + " " + str(motorPins[5]) + " " + str(motorPins[6]) + " " + str(motorPins[7]) + "\n")
# Second line: LED pins
f.write(str(ledPins[0]) + " " + str(ledPins[1]) + " " + str(ledPins[2]) + " " + str(ledPins[3]) + "\n")
f.close()
# --- Creation of a file with the PID of the process ---
# Waiting for the user to press the e-stop button
self.state = enums.State.paused
messages.printMessage('greetings')
while self.getSensorData(enums.SensorType.emergencyStop, 4) == 0:
time.sleep(0.1)
messages.printMessage('running')
self.state = enums.State.running
# --- Waiting for the user to press the e-stop button ---
def getStateTortoise(self):
"""
Returns the state of the tortoise, either paused or running.
:rtype: enums.State
"""
return self.state
def setStateTortoise(self, toState):
self.state = toState
def calibrateLight(self):
"""
Calibrates the light sensor, defining the upper and lower bounds of the light, i.e. the values returned by the light sensor of the ambience and when a light source is placed in front of it.
Currently, only the light sensor in the position 1 of the PCB is used for calibration.
"""
global lowerBoundLight, upperBoundLight, isLightCalibrated
messages.printMessage('calibration_ambient')
raw_input()
lowerBoundLight = self.sensors.readSensor(enums.SensorType.light, 1)
messages.printMessage('calibration_light_source')
raw_input()
upperBoundLight = self.sensors.readSensor(enums.SensorType.light, 1)
isLightCalibrated = True
messages.printMessage('calibration_complete')
def getSensorData(self, sensor_type, position):
"""
Returns a different value depending on the type of sensor queried:
- For the light sensor: an int in the range [0, 9]
- For the touch sensor: 1 if the sensor has been pressed since the last time it was queried, 0 if not
- For the e-stop: 1 if it's ON, 0 if it's OFF
- For the proximity sensor: 1 if there's an obstacle (it's ON), 0 if not (it's OFF)
:param sensor_type: type of the sensor queried
:param position: position in the PCB of the sensor queried
:type sensor_type: enums.SensorType
:type position: int
:rtype: int
"""
if (sensor_type == enums.SensorType.touch):
if (position < 1 or position > 3):
messages.printMessage('bad_touch_sensor')
self.blinkLEDs_error()
return -1
elif (sensor_type == enums.SensorType.emergencyStop):
if (position != 4):
messages.printMessage('bad_emergency_sensor')
self.blinkLEDs_error()
return -1
elif (sensor_type == enums.SensorType.light):
if (position != 1 and position!=2):
messages.printMessage('bad_light_sensor')
self.blinkLEDs_error()
return -1
elif (sensor_type == enums.SensorType.proximity):
if (position < 1 or position > 4):
messages.printMessage('bad_proximity_sensor')
self.blinkLEDs_error()
return -1
else:
messages.printMessage('bad_sensor')
self.blinkLEDs_error()
return -1
# The value of the sensor is read at lowlevel
value = self.sensors.readSensor(sensor_type, position)
# For the light sensor, 'value' is the count of the light
if sensor_type == enums.SensorType.light:
return value
if (upperBoundLight - lowerBoundLight) == 0:
messages.printMessage('no_calibration')
self.blinkLEDs_error()
return -1
# A scale to the range [0, 9] is done
lightVal = int(9 - round(abs(value-upperBoundLight)/(abs(upperBoundLight - lowerBoundLight)/9)))
if lightVal < 0:
messages.printMessage('no_calibration')
self.blinkLEDs_error()
return -1
return lightVal
# For the touch sensor, 'value' is the number of times the sensor has been pressed
elif sensor_type == enums.SensorType.touch:
# Returns if the sensor has been pressed since the last time it was queried
return self.getSwitchTriggered(position,value)
# For the e-stop, 'value' is the number of times the sensor has been pressed
elif sensor_type == enums.SensorType.emergencyStop:
# Returns if it's either 1 (ON) or 0 (OFF)
return value % 2
# For the proximity sensor, 'value' is either 1 (ON) or 0 (OFF)
elif sensor_type == enums.SensorType.proximity:
# Returns 1 (ON) or 0 (OFF)
return value
def getSwitchTriggered(self, position, value):
if self.lastTouch[position-1] < 0:
self.lastTouch[position-1] = value
return 0
elif self.lastTouch[position-1] == value:
return 0
else:
self.lastTouch[position-1] = value
return 1
def getLEDValue(self, position):
"""
Returns 1 if the LED is ON, 0 if it's OFF.
:param position: position in the PCB of the sensor queried
:type position: int
:rtype: int
"""
if (position < 1 or position > 4):
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
return self.actuators.getActuatorValue(enums.ActuatorType.led, position)
def setLEDValue(self, position, value):
"""
Turns on/off an LED.
:param position: position in the PCB of the sensor queried
:param value: 1 (ON) or 0 (OFF)
:type position: int
:type value: int
"""
if(position < 1 or position > 4):
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
if(value != 0 and value != 1):
messages.printMessage('bad_LED_value')
self.blinkLEDs_error()
return -1
self.actuators.setActuatorValue(enums.ActuatorType.led, position, value)
return 0
def blinkLEDs(self, positions, numberOfBlinks, delay, blocking = False):
"""
Blinks the LEDs wanted the number of times specified.
:param positions: position or positions in the PCB of the LEDs wanted
:param numberOfBlinks: number of blinks
:param delay: milliseconds to wait between blinking
:param blocking: whether the function should block forever or not.
:type positions: int, [int]
:type numberOfBlinks: int
:type delay: int
:type blocking: boolean
.. warning:: If blocking == True, the thread will block forever because of infinite loop. It's only used when there are errors.
"""
if numberOfBlinks < 0:
messages.printMessage('blinks_negative')
self.blinkLEDs_error()
return -1
if numberOfBlinks == 0:
messages.printMessage('blinks_zero')
self.blinkLEDs_error()
return -1
if delay < 0:
messages.printMessage('blinking_fast')
self.blinkLEDs_error()
return -1
# If no TypeError exception raised, 'positions' is an array
try:
# All positions are checked
for y in range(0, len(positions)):
if positions[y] < 0 or positions[y] > 4:
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
except TypeError: # It's not an array but an integer
if positions < 0 or positions > 4:
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
# The current state of the LEDs is saved to restore it later
previousStateLEDs = [ self.getLEDValue(x) for x in range(1, 5) ]
cont = True
# If blocking == True, it's an infinite loop to "stop" the execution of the program and keep blinkind the LEDs
while cont:
for x in range(0, numberOfBlinks):
# If no TypeError exception raised, 'positions' is an array
try:
for y in range(0, len(positions)):
self.actuators.setActuatorValue(enums.ActuatorType.led, positions[y], 1)
time.sleep(delay)
for y in range(0, len(positions)):
self.actuators.setActuatorValue(enums.ActuatorType.led, positions[y], 0)
time.sleep(delay)
except TypeError: # It's not an array but an integer
self.actuators.setActuatorValue(enums.ActuatorType.led, positions, 1)
time.sleep(delay)
self.actuators.setActuatorValue(enums.ActuatorType.led, positions, 0)
time.sleep(delay)
# Depending on the parameter, it blocks or not
cont = blocking
# If it doesn't block, the previous state of the LEDs is restored
for x in range(1, 5):
self.setLEDValue(x, previousStateLEDs[x - 1])
return 0
def blinkLEDs_error(self):
self.blinkLEDs([1, 2, 3, 4], 3, 0.2, blocking = True)
def moveMotors(self, stepsWheelA, stepsWheelB, delayWheelA, delayWheelB, direction):
"""
Move the motors of the wheels.
Running the motors is done in different threads so that both wheels can move at the same time. The thread that executes this functions waits until the threads are finished, i.e. the motion is done. However, it doesn't block, but checks every half a second if the e-stop button has been pressed. If so, it stops the motors and exits.
:param stepsWheelA: number of rotations of the motor attached to wheel A
:param stepsWheelB: number of rotations of the motor attached to wheel B
:param delayWheelA: controls the speed of rotation of the motor attached to wheel A (minimum is 2 milliseconds)
:param delayWheelB: controls the speed of rotation of the motor attached to wheel B (minimum is 2 milliseconds)
:param direction: the direction in which the tortoise should move
:type stepsWheelA: int
:type stepsWheelB: int
:type delayWheelA: int
:type delayWheelB: int
:type direction: enums.Direction
"""
if( direction != enums.Direction.backwards_right and direction != enums.Direction.backwards_left and direction != enums.Direction.forwards_right and direction != enums.Direction.forwards_left and direction != enums.Direction.forwards and direction != enums.Direction.backwards and direction != enums.Direction.clockwise and direction != enums.Direction.counterClockwise ) :
messages.printMessage('bad_direction')
self.blinkLEDs_error()
return -1
if(stepsWheelA < 0 or stepsWheelB < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if((stepsWheelA > 0 and delayWheelA < self.minDelayMotors) or (stepsWheelB > 0 and delayWheelB < self.minDelayMotors)):
messages.printMessage('bad_delay')
self.blinkLEDs_error()
return -1
# If a stop command has been sent, the turtle will stop its movement
if self.getSensorData(enums.SensorType.emergencyStop, 4) == 0:
if self.getStateTortoise() == enums.State.running:
self.setStateTortoise(enums.State.paused)
messages.printMessage('paused')
else:
if self.getStateTortoise() == enums.State.paused:
self.setStateTortoise(enums.State.running)
messages.printMessage('resumed')
# The threads are created. They aren't started yet though.
motorAprocess_backwards = Process(target=self.A.backwards, args=(delayWheelA / 1000.00, stepsWheelA))
motorBprocess_backwards = Process(target=self.B.backwards, args=(delayWheelB / 1000.00, stepsWheelB))
motorAprocess_forwards = Process(target=self.A.forwards, args=(delayWheelA / 1000.00, stepsWheelA))
motorBprocess_forwards = Process(target=self.B.forwards, args=(delayWheelB / 1000.00, stepsWheelB))
# The specific wheels are started in order to accomplish the desired movement in the direction commanded
if direction == enums.Direction.backwards_left or direction == enums.Direction.backwards or direction == enums.Direction.backwards_right:
if stepsWheelA > 0:
motorAprocess_backwards.start()
if stepsWheelB > 0:
motorBprocess_backwards.start()
elif direction == enums.Direction.forwards_right or direction == enums.Direction.forwards or direction == enums.Direction.forwards_left:
if stepsWheelA > 0:
motorAprocess_forwards.start()
if stepsWheelB > 0:
motorBprocess_forwards.start()
elif direction == enums.Direction.clockwise:
if stepsWheelA > 0:
motorAprocess_backwards.start()
if stepsWheelB > 0:
motorBprocess_forwards.start()
elif direction == enums.Direction.counterClockwise:
if stepsWheelA > 0:
motorAprocess_forwards.start()
if stepsWheelB > 0:
motorBprocess_backwards.start()
# The main loop pools the emergencyStop while the motors are running
while motorAprocess_backwards.is_alive() or motorBprocess_backwards.is_alive() or motorAprocess_forwards.is_alive() or motorBprocess_forwards.is_alive():
# If a stop command has been sent, the turtle will stop its movement and exit this function
if self.getSensorData(enums.SensorType.emergencyStop, 4) == 0:
if self.getStateTortoise() == enums.State.running:
self.setStateTortoise(enums.State.paused)
messages.printMessage('paused')
if motorAprocess_backwards.is_alive():
motorAprocess_backwards.terminate()
motorAprocess_backwards.join()
if motorBprocess_backwards.is_alive():
motorBprocess_backwards.terminate()
motorBprocess_backwards.join()
if motorAprocess_forwards.is_alive():
motorAprocess_forwards.terminate()
motorAprocess_forwards.join()
if motorBprocess_forwards.is_alive():
motorBprocess_forwards.terminate()
motorBprocess_forwards.join()
elif self.getStateTortoise() == enums.State.paused:
self.setStateTortoise(enums.State.running)
messages.printMessage('resumed')
time.sleep(0.5)
# When the movement finishes, the motors are turned off
self.A.stopMotors()
self.B.stopMotors()
return 0
def moveForwards(self, steps):
"""
The tortoise moves forwards.
:param steps: number of rotations of the motors
:type steps: int
"""
return self.moveMotors(steps, steps, self.minDelayMotors, self.minDelayMotors, enums.Direction.forwards)
def moveBackwards(self, steps):
"""
The tortoise moves backwards.
:param steps: number of rotations of the motors
:type steps: int
"""
return self.moveMotors(steps, steps, self.minDelayMotors, self.minDelayMotors, enums.Direction.backwards)
def turnOnTheSpot(self, steps, direction):
"""
This function makes the tortoise turn with the centre of rotation in one of the wheels.
:param steps: number of rotations of the motors
:param direction: one of these four combinations: [forwards/backwards]_[left/right]
:type steps: int
:type direction: enums.Direction
"""
if(steps < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if( direction != enums.Direction.backwards_right and direction != enums.Direction.backwards_left and
direction != enums.Direction.forwards_right and direction != enums.Direction.forwards_left ) :
messages.printMessage('bad_direction_turn')
self.blinkLEDs_error()
return -1
# Only wheel A moves
if direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right:
return self.moveMotors(steps, 0, self.minDelayMotors, 0, direction)
# Only wheel B moves
elif direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left:
return self.moveMotors(0, steps, 0, self.minDelayMotors, direction)
def shuffleOnTheSpot(self, steps, direction):
"""
This function makes the tortoise turn with the centre of rotation between both wheels.
:param steps: number of rotations of the motors
:param direction: either clockwise or counter-clockwise
:type steps: int
:type direction: enums.Direction
"""
if(steps < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if( direction != enums.Direction.clockwise and direction != enums.Direction.counterClockwise ) :
messages.printMessage('bad_shuffle')
self.blinkLEDs_error()
return -1
return self.moveMotors(steps, steps, self.minDelayMotors, self.minDelayMotors, direction)
def shuffle45degrees(self, direction):
"""
This function tries to make the tortoise shuffle 45 degrees.
:param direction: one of these four combinations: [forwards/backwards]_[left/right]
:type direction: enums.Direction
"""
return self.shuffleOnTheSpot(180, direction)
def turn(self, stepsWheelA, stepsWheelB, direction):
"""
This function makes the tortoise turn by specifying different steps for the wheels.
The function computes the delay that the wheel with less rotations should have in order to finish at the same time than the other wheel.
:param stepsWheelA: number of rotations of the motor attached to wheel A
:param stepsWheelB: number of rotations of the motor attached to wheel B
:param direction: one of these four combinations: [forwards/backwards]_[left/right]
:type stepsWheelA: int
:type stepsWheelB: int
:type direction: enums.Direction
"""
if( direction != enums.Direction.backwards_right and direction != enums.Direction.backwards_left and
direction != enums.Direction.forwards_right and direction != enums.Direction.forwards_left ) :
messages.printMessage('bad_direction_turn')
self.blinkLEDs_error()
return -1
if (direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right) and (stepsWheelB >= stepsWheelA):
messages.printMessage('bad_turn')
self.blinkLEDs_error()
return -1
if (direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left) and (stepsWheelA >= stepsWheelB):
messages.printMessage('bad_turn')
self.blinkLEDs_error()
return -1
if(stepsWheelA < 0 or stepsWheelB < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right:
# The delay of the wheel with less movements is worked out so that both wheels finish more or less at the same time
delay = (stepsWheelA * self.minDelayMotors) / stepsWheelB
return self.moveMotors(stepsWheelA, stepsWheelB, self.minDelayMotors, delay, direction)
elif direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left:
# The delay of the wheel with less movements is worked out so that both wheels finish more or less at the same time
delay = (stepsWheelB * self.minDelayMotors) / stepsWheelA
return self.moveMotors(stepsWheelA, stepsWheelB, delay, self.minDelayMotors, direction)
def turn45degrees_sharp(self, direction):
"""
This function tries to make the tortoise turn 45 degrees sharply.
:param direction: one of these four combinations: [forwards/backwards]_[left/right]
:type direction: enums.Direction
"""
if direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right:
return self.turn(400, 75, direction)
elif direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left:
return self.turn(75, 400, direction)
def turn30degrees_wide(self, direction):
"""
This function tries to make the tortoise turn 45 degrees wide.
:param direction: one of these four combinations: [forwards/backwards]_[left/right]
:type direction: enums.Direction
"""
if direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right:
return self.turn(450, 250, direction)
elif direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left:
return self.turn(250, 450, direction)
def doRandomMovement(self):
"""
Performs a natural random movement.
The function chooses a movement, and it can be repeated up to three times. The probabilities of repeating the movement are as follows:
- No repetition: 60%
- Once: 25%
- Twice: 10%
- Three times: 5%
The probabilities of choosing a random movement are as follows:
- Move forwards: 30%
- Move backwards: 10%
- Shuffling: 10%
- Turning 30 or 45 degrees: 10%
- Turning with random steps: 40%
The direction of movement for the turns and shuffles is chosen randomly.
"""
# New random command
if self.numberRepeatsRandomCommand == -1 or self.timesSameRandomCommandExecuted == self.numberRepeatsRandomCommand:
# The number of times the command is repeated is chosen randomly with decreasing probabilities up to 3 times.
self.numberRepeatsRandomCommand = np.random.choice([0, 1, 2, 3], 1, p = [0.6, 0.25, 0.1, 0.05])
# As this is a new command, no repetitions done
self.timesSameRandomCommandExecuted = 0
# Random steps for wheel A
self.lastRandomStepsWheelA = np.random.randint(30, 300)
# Random number between 0 and 1 for decision on the random movement
randomNumber = np.random.random_sample()
# 40% probability of moving forwards/backwards
if(randomNumber < 0.4):
# 75% of probability of moving forwards
if(randomNumber < 0.30):
self.moveForwards(self.lastRandomStepsWheelA)
self.lastRandomCommand = self.moveForwards
# 25% probability of moving backwards
else:
self.moveBackwards(self.lastRandomStepsWheelA)
self.lastRandomCommand = self.moveBackwards
# 10% probability of shuffling
elif (randomNumber < 0.5):
# Equal probability of going clockwise or counter clockwise
self.lastRandomDirection = np.random.choice([enums.Direction.clockwise, enums.Direction.counterClockwise], 1)
self.shuffle45degrees(self.lastRandomDirection)
self.lastRandomCommand = self.shuffle45degrees
# 10% probability of turning 30 or 45 degrees
elif (randomNumber < 0.6):
# Equal probability of moving forwards/backwards lef/right
self.lastRandomDirection = np.random.choice([enums.Direction.forwards_right, enums.Direction.forwards_left, enums.Direction.backwards_right, enums.Direction.backwards_left], 1)
# Equal probability of turning 30 degrees wide or 45 degrees sharp
if(randomNumber < 0.55):
self.turn45degrees_sharp(self.lastRandomDirection)
self.lastRandomCommand = self.turn45degrees_sharp
else:
self.turn30degrees_wide(self.lastRandomDirection)
self.lastRandomCommand = self.turn30degrees_wide
# 40% of turning randomly
else:
# Random steps for wheel B
self.lastRandomStepsWheelB = np.random.randint(30, 300)
# Equal probability of moving forwards/backwards lef/right
self.lastRandomDirection = np.random.choice([enums.Direction.forwards_right, enums.Direction.forwards_left, enums.Direction.backwards_right, enums.Direction.backwards_left], 1)
if(self.lastRandomDirection == enums.Direction.forwards_left or self.lastRandomDirection == enums.Direction.backwards_left):
if(self.lastRandomStepsWheelA >= self.lastRandomStepsWheelB):
aux = self.lastRandomStepsWheelA
self.lastRandomStepsWheelA = self.lastRandomStepsWheelB - 1 # To avoid the case of equals
self.lastRandomStepsWheelB = aux
else:
if(self.lastRandomStepsWheelB >= self.lastRandomStepsWheelA):
aux = self.lastRandomStepsWheelA
self.lastRandomStepsWheelA = self.lastRandomStepsWheelB
self.lastRandomStepsWheelB = aux - 1 # To avoid the case of equals
self.turn(self.lastRandomStepsWheelA, self.lastRandomStepsWheelB, self.lastRandomDirection)
self.lastRandomCommand = self.turn
# Repeat last command
else:
self.timesSameRandomCommandExecuted = self.timesSameRandomCommandExecuted + 1
if self.lastRandomCommand == self.moveForwards:
self.moveForwards(self.lastRandomStepsWheelA)
elif self.lastRandomCommand == self.moveBackwards:
self.moveBackwards(self.lastRandomStepsWheelA)
elif self.lastRandomCommand == self.shuffle45degrees:
self.shuffle45degrees(self.lastRandomDirection)
elif self.lastRandomCommand == self.turn45degrees_sharp:
self.turn45degrees_sharp(self.lastRandomDirection)
elif self.lastRandomCommand == self.turn30degrees_wide:
self.turn30degrees_wide(self.lastRandomDirection)
elif self.lastRandomCommand == self.turn:
self.turn(self.lastRandomStepsWheelA, self.lastRandomStepsWheelB, self.lastRandomDirection)
GPIO.setup("P8_4", GPIO.OUT)
GPIO.output("P8_4", GPIO.HIGH)
GPIO.setup("P8_11", GPIO.OUT)
GPIO.output("P8_11", GPIO.HIGH)
GPIO.setup("P9_15", GPIO.OUT)
GPIO.output("P9_15", GPIO.HIGH)
GPIO.setup("P9_23", GPIO.OUT)
GPIO.output("P9_23", GPIO.HIGH)
##############################
speed = 0
m1 = Motor(1)
m1.setSpeed(speed)
m1.go()
m2 = Motor(2)
m2.setSpeed(speed * (-1))
m2.go()
m3 = Motor(3)
m3.setSpeed(speed)
m3.go()
m4 = Motor(4)
m4.setSpeed(speed * (-1))
m4.go()
#!/usr/bin/env micropython
"""Development/debug test program."""
from motors import Motor, Mechanism
from sensors import Touch
from time import sleep
# Set up devices
gripper_motor = Motor('outA', gear_ratio=12)
gripper_switch = Touch('in1')
# Define and reset mechanism
targets = {'open': 0, 'closed': 110, 'up': 400, 'reset': 430}
default_speed = 50
gripper = Mechanism(gripper_motor, targets, default_speed, gripper_switch)
# Go to predefined absolute target
gripper.go_to_target('closed')
sleep(1)
gripper.go_to_target('open')
The call to this method is:
python text_motor.py [speed = 10] [time = 5]
'''
from motors import Motor
import Adafruit_BBIO.GPIO as GPIO
import time
import os
import sys
speed = 10
if len(sys.argv) > 1:
speed = int(sys.argv[1])
m1 = Motor(1);
m1.setSpeedBrushless(speed)
m1.go()
m2 = Motor(2);
m2.setSpeedBrushless(speed);
m2.go()
m3 = Motor(3);
m3.setSpeedBrushless(speed);
m3.go()
m4 = Motor(4);
m4.setSpeedBrushless(speed);
m4.go()
def initMotors():
speed = 10
m1 = Motor(1)
m1.setSpeedBrushless(speed)
m1.go()
m2 = Motor(2)
m2.setSpeedBrushless(speed)
m2.go()
m3 = Motor(3)
m3.setSpeedBrushless(speed)
m3.go()
m4 = Motor(4)
m4.setSpeedBrushless(speed)
m4.go()
time.sleep(0.5)
#####
# shutdown the motors
#####
speed = 0
m1.setSpeedBrushless(speed)
m1.go()
m2.setSpeedBrushless(speed)
m2.go()
m3.setSpeedBrushless(speed)
m3.go()
m4.setSpeedBrushless(speed)
m4.go()
GPIO.setup("P8_4", GPIO.OUT)
GPIO.output("P8_4", GPIO.HIGH)
GPIO.setup("P8_11", GPIO.OUT)
GPIO.output("P8_11", GPIO.HIGH)
GPIO.setup("P9_15", GPIO.OUT)
GPIO.output("P9_15", GPIO.HIGH)
GPIO.setup("P9_23", GPIO.OUT)
GPIO.output("P9_23", GPIO.HIGH)
##############################
speed = 0
m1 = Motor(1);
m1.setSpeed(speed);
m1.go()
m2 = Motor(2);
m2.setSpeed(speed*(-1));
m2.go()
m3 = Motor(3);
m3.setSpeed(speed);
m3.go()
m4 = Motor(4);
m4.setSpeed(speed*(-1));
m4.go()
def limitThrust(thrust):
if thrust > 100:
thrush = 100
elif thrust < -100:
thrust = -100
return thrust
#instantiate IMU
#TODO see how to import C interface to python
imu = IMU()
#MyKalman=KalmanFilter(....)
#instantiate motors and put them together in a list
motor1 = Motor(1)
motor2 = Motor(2)
motor3 = Motor(3)
motor4 - Motor(4)
motors = [motor1, motor2, motor3, motor4]
#TODO instantiate PID controllers
rollPID = PID()
pitchPID = PID()
yawPID = PID()
#zPID=PID(.....)
#xposPID=PID(.....)
#yposPID=PID(.....)
############################
#loop
def __init__(self):
self.lmotor = Motor(4, 0x09, 1)
self.rmotor = Motor(4, 0x09, 2)
self.camera = Camera()
self.sensor = Sensor()
############################ #instantiate the BT controller bt = BT_Controller(z_d) bt.run() #instantiate IMU #TODO see how to import C interface to python imu = IMU() #MyKalman=KalmanFilter(....) # dynamical model instance dyn_model = Dynamical_Model() #instantiate motors and put them together in a list motor1 = Motor(1) motor2 = Motor(2) motor3 = Motor(3) motor4 = Motor(4) motors = [motor1, motor2, motor3, motor4] # instantiate PID controllers rollPID = PID(Kp, Kd, Ki) # Kp, Kd, Ki pitchPID = PID(Kp, Kd, Ki) yawPID = PID(0, 0, 0) zPID = PID(1, 0, 0) #xposPID=PID(-0.09, -0.1, 0) #yposPID=PID(-0.09, -0.1, 0) # test variables frequencies = []
def initMotors(): speed = 10 m1 = Motor(1); m1.setSpeedBrushless(speed) m1.go() m2 = Motor(2); m2.setSpeedBrushless(speed); m2.go() m3 = Motor(3); m3.setSpeedBrushless(speed); m3.go() m4 = Motor(4); m4.setSpeedBrushless(speed); m4.go() time.sleep(0.5) ##### # shutdown the motors ##### speed = 0 m1.setSpeedBrushless(speed); m1.go() m2.setSpeedBrushless(speed); m2.go() m3.setSpeedBrushless(speed); m3.go() m4.setSpeedBrushless(speed); m4.go()
def __init__(self):
"""
This method creates a tortoise. It initializes the sensors, the variables that control the random motion and creates a file with the PID of the process which has created the tortoise so that the watchdog (a background process) can stops the motors and LEDs in case the user process finishes because of an error. The tortoise is created uncalibrated.
The reasons of termination of a user process could be because of normal termination
or because of an error (exceptions, ctrl-c, ...). When an error happens, the motors
and may be still on. In this case, the motors and LEDs should be turned off
for the battery not to drain.
The solution implemented is to have a background process (a watchdog) running
continously. This process checks if the user process doesn't exist anymore (termination).
If it doesn't, it stops the motors, switches off the LEDs and cleans up all the pins.
In order to identy that the user script has finished, a file with the name [PID].pid is
created in the folder ~/.tortoise_pids/, where [PID] is the PID of the user process.
Regarding calibration, the purpose was to avoid calibration everytime the tortoise object is created.
However, this hasn't been implemented yet. The idea could be to save the light
values in a file and read that file when creating the tortoise object.
Light conditions could have changed, so this should be done carefully.
At the moment, the tortoise object is created without calibration. If the users
want to use the light sensors, they need will need to execute the calibrateLight
function before using those sensors.
"""
# Variables that control the calibration of the light sensors
global isLightCalibrated
global lowerBoundLight
global upperBoundLight
isLightCalibrated = False
lowerBoundLight = 0
upperBoundLight = 0
# --- Variables that control the calibration of the light sensors ---
# No warnings from the GPIO library
GPIO.setwarnings(False)
# Variables that control the random motion
self.lastRandomCommand = None
self.timesSameRandomCommandExecuted = 0
self.numberRepeatsRandomCommand = -1
self.lastRandomStepsWheelA = None
self.lastRandomStepsWheelB = None
self.lastRandomDirection = None
# --- Variables that control the random motion ---
# Setting the motors, sensors and actuators
# Pin numbers of the motors
motorPins = [13, 6, 5, 7, 20, 10, 9, 11]
self.A = Motor(motorPins[0], motorPins[1], motorPins[2], motorPins[3])
self.B = Motor(motorPins[4], motorPins[5], motorPins[6], motorPins[7])
self.sensors = Sensors()
self.actuators = Actuators()
# Position 1 of the light sensors area in the PCB assigned to pin 17
self.sensors.setSensor(enums.SensorType.light, 1, 17)
# Position 2 of the light sensors area in the PCB assigned to pin 4
self.sensors.setSensor(enums.SensorType.light, 2, 4)
# Position 1 of the touch sensors area in the PCB assigned to pin 3
self.sensors.setSensor(enums.SensorType.emergencyStop, 1, 3)
# Position 2 of the touch sensors area in the PCB assigned to pin 27
self.sensors.setSensor(enums.SensorType.touch, 2, 27)
# Position 3 of the touch sensors area in the PCB assigned to pin 2
self.sensors.setSensor(enums.SensorType.touch, 3, 2)
# Position 4 of the touch sensors area in the PCB assigned to pin 18
self.sensors.setSensor(enums.SensorType.touch, 4, 18)
# Position 1 of the proximity sensors area in the PCB assigned to pin 19
self.sensors.setSensor(enums.SensorType.proximity, 1, 19)
# Position 2 of the proximity sensors area in the PCB assigned to pin 21
self.sensors.setSensor(enums.SensorType.proximity, 2, 21)
# Position 3 of the proximity sensors area in the PCB assigned to pin 22
self.sensors.setSensor(enums.SensorType.proximity, 3, 22)
# Position 4 of the proximity sensors area in the PCB assigned to pin 26
self.sensors.setSensor(enums.SensorType.proximity, 4, 26)
# Positions of the LEDs area in the PCB assigned to pins 8, 16, 25, 12
ledPins = [8, 16, 25, 12]
self.actuators.initActuator(enums.ActuatorType.led, 1, ledPins[0])
self.actuators.initActuator(enums.ActuatorType.led, 2, ledPins[1])
self.actuators.initActuator(enums.ActuatorType.led, 3, ledPins[2])
self.actuators.initActuator(enums.ActuatorType.led, 4, ledPins[3])
# --- Setting the motors, sensors and actuators ---
# Times pressed the touch sensor for the latching behavour
self.lastTouch = [-1,-1,-1]
# Minimum milliseconds to send to the motors as delay
self.minDelayMotors = 2
# Creation of a file with the PID of the process
# PID of process
pid = os.getpid()
# ~/.tortoise_pids/
directory = os.path.expanduser("~") + "/.tortoise_pids/"
# Filename: [PID].pid
f = open(directory + str(pid) + ".pid", "w")
# First line: motor pins
f.write(str(motorPins[0]) + " " + str(motorPins[1]) + " " + str(motorPins[2]) + " " + str(motorPins[3]) + " " + str(motorPins[4]) + " " + str(motorPins[5]) + " " + str(motorPins[6]) + " " + str(motorPins[7]) + "\n")
# Second line: LED pins
f.write(str(ledPins[0]) + " " + str(ledPins[1]) + " " + str(ledPins[2]) + " " + str(ledPins[3]) + "\n")
f.close()
# --- Creation of a file with the PID of the process ---
# Waiting for the user to press the e-stop button
self.state = enums.State.paused
messages.printMessage('greetings')
while self.getSensorData(enums.SensorType.emergencyStop, 4) == 0:
time.sleep(0.1)
messages.printMessage('running')
self.state = enums.State.running
import socket
import select
import sys
from motors import Motor
from PID import PID
import getch
global x, y, z, w, throttle
# Initial rotation
x = 0.7325378163287418
y = 0.4619397662556433
z = -0.19134171618254486
w = 0.4619397662556433
# ================================ Main loop ==================================
m_front_left = Motor(Motor.FRONT_LEFT)
m_front_right = Motor(Motor.FRONT_RIGHT)
m_back_right = Motor(Motor.BACK_RIGHT)
m_back_left = Motor(Motor.BACK_LEFT)
PitchPID = PID()
RollPID = PID()
YawPID = PID()
throttle = 300
def getInput():
global throttle
while True:
from pyPS4Controller.controller import Controller
from motors import Motor
Motor_1 = Motor(3, 5)
Motor_2 = Motor(7, 8)
#from ROADENT.App import Motor_1, Motor_2
class MyController(Controller):
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
def on_up_arrow_press(self):
print("Forward")
Motor_1.clockwise()
Motor_2.clockwise()
def on_up_down_arrow_release(self):
print("Stop")
Motor_1.stop()
Motor_2.stop()
def on_down_arrow_press(self):
Motor_1.c_clockwise()
Motor_2.c_clockwise()
def on_right_arrow_press(self):
print("turn right")
Motor_2.clockwise()
Motor_1.c_clockwise()
import argparse
from api import Api
from bot_serial import SerialWrapper
from motors import Motor
from recorder import CVCaptureRecorder
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Control the potato beer delivery system via an arduino.')
parser.add_argument('dev', type=str, help='serial device the arduino is connected to')
args = parser.parse_args()
recorder = CVCaptureRecorder()
serial = SerialWrapper(dev=args.dev, speed=57600)
speed_motor = Motor(serial, arduino_command="S")
direction_motor = Motor(serial, arduino_command="D")
api = Api(recorder=recorder)
api.demonize(port=8000)
while True:
# api events
recorder.update_frame_rate()
recorder.handle_frame()
with api.lock:
for event, kwargs in api.events:
if event == "set":
direction_motor.set(kwargs["position"])
if event == "set_speed":
from machine import Pin
import blesync_server
import blesync_uart.server
from motors import Motor
import pinout
from steering import Steering
motor_r = Motor(pinout.MOTOR_1A, pinout.MOTOR_2A, pinout.MOTOR_12EN)
motor_l = Motor(pinout.MOTOR_3A, pinout.MOTOR_4A, pinout.MOTOR_34EN)
steering = Steering(motor_l, motor_r)
built_in_led = Pin(2, Pin.OUT)
@blesync_uart.server.UARTService.on_message
def on_message(service, conn_handle, message):
if message == b'!B516':
steering.center(1000)
elif message == b'!B507':
steering.center(0)
elif message == b'!B615':
steering.center(-1000)
elif message == b'!B606':
steering.center(0)
elif message == b'!B813':
steering.right(1000)
elif message == b'!B804':
steering.right(0)
elif message == b'!B714':
steering.left(1000)
class Tortoise:
def __init__(self):
global isLightCalibrated
global lowerBoundLight
global upperBoundLight
GPIO.setwarnings(False)
# self.lock = threading.RLock()
self.lastRandomCommand = None
self.timesSameRandomCommandExecuted = 0
self.numberRepeatsRandomCommand = -1
self.lastRandomStepsWheelA = None
self.lastRandomStepsWheelB = None
self.lastRandomDirection = None
isLightCalibrated = False
lowerBoundLight = 0
upperBoundLight = 0
# Previous: [4, 17, 23, 24, 27, 22, 18, 5]
motorPins = [13, 6, 5, 7, 20, 10, 9, 11]
ledPins = [8, 16, 25, 12]
# CREATING FILE WITH PID
# PID of process
pid = os.getpid()
# ~/.tortoise_pids/
directory = os.path.expanduser("~") + "/.tortoise_pids/"
# Filename: [PID].pid
f = open(directory + str(pid) + ".pid", "w")
# First line: motor pins
f.write(str(motorPins[0]) + " " + str(motorPins[1]) + " " + str(motorPins[2]) + " " + str(motorPins[3]) + " " + str(motorPins[4]) + " " + str(motorPins[5]) + " " + str(motorPins[6]) + " " + str(motorPins[7]) + "\n")
# Second line: LED pins
f.write(str(ledPins[0]) + " " + str(ledPins[1]) + " " + str(ledPins[2]) + " " + str(ledPins[3]) + "\n")
f.close()
# ----------------------
# TODO: change to self.Motor.Left
self.A = Motor(motorPins[0], motorPins[1], motorPins[2], motorPins[3])
self.B = Motor(motorPins[4], motorPins[5], motorPins[6], motorPins[7])
self.sensors = Sensors()
self.actuators = Actuators()
self.minDelayMotors = 2
self.state = enums.State.paused
self.sensors.setSensor(enums.SensorType.light, 1, 17) # Previous: 16
self.sensors.setSensor(enums.SensorType.light, 2, 4) # Previous: 2
self.sensors.setSensor(enums.SensorType.emergencyStop, 1, 3) # Previous: 6
self.sensors.setSensor(enums.SensorType.touch, 1, 27) # Previous: 8
self.sensors.setSensor(enums.SensorType.touch, 2, 2) # Previous: 13
self.sensors.setSensor(enums.SensorType.touch, 3, 18) # Previous: 7
self.sensors.setSensor(enums.SensorType.proximity, 1, 19) # Previous: 10
self.sensors.setSensor(enums.SensorType.proximity, 2, 21) # Previous: 11
self.sensors.setSensor(enums.SensorType.proximity, 3, 22) # Previous: x
self.sensors.setSensor(enums.SensorType.proximity, 4, 26) # Previous: x
self.actuators.initActuator(enums.ActuatorType.led, 1, ledPins[0]) # Previous: 19
self.actuators.initActuator(enums.ActuatorType.led, 2, ledPins[1]) # Previous: 26
self.actuators.initActuator(enums.ActuatorType.led, 3, ledPins[2]) # Previous: x
self.actuators.initActuator(enums.ActuatorType.led, 4, ledPins[3]) # Previous: x
self.lastTouch = [-1,-1,-1]
#print "light sensor value:"
#print self.sensors.readSensor(enums.SensorType.light, 1)
#if not isLightCalibrated:
#self.calibrateLight()
# try:
# thread.start_new_thread(self.pauseAndResume, ())
# except:
# print "Error: unable to start thread"
messages.printMessage('greetings')
while self.getSensorData(enums.SensorType.emergencyStop, 1) == 0:
time.sleep(0.1)
messages.printMessage('running')
self.state = enums.State.running
def getStateTortoise(self):
return self.state
def setStateTortoise(self, toState):
self.state = toState
def calibrateLight(self):
global lowerBoundLight, upperBoundLight, isLightCalibrated
messages.printMessage('calibration_ambient')
raw_input()
#lowerBoundLight = max(self.sensors.readSensor(enums.SensorType.light, 1), self.sensors.readSensor(enums.SensorType.light, 2))
lowerBoundLight = self.sensors.readSensor(enums.SensorType.light, 1)
#print "Light in normal conditions is: ", lowerBoundLight
messages.printMessage('calibration_light_source')
raw_input()
#upperBoundLight = min((self.sensors.readSensor(enums.SensorType.light, 1), self.sensors.readSensor(enums.SensorType.light, 2)))
upperBoundLight = self.sensors.readSensor(enums.SensorType.light, 1)
# print "Light when there is a light source is:", upperBoundLight
isLightCalibrated = True
messages.printMessage('calibration_complete')
def getSensorData(self, sensor_type, position):
if (sensor_type == enums.SensorType.touch):
if (position < 1 or position > 3):
messages.printMessage('bad_touch_sensor')
self.blinkLEDs_error()
return -1
elif (sensor_type == enums.SensorType.light):
if (position != 1 and position!=2):
messages.printMessage('bad_light_sensor')
self.blinkLEDs_error()
return -1
elif (sensor_type == enums.SensorType.proximity):
if (position < 1 or position > 4):
messages.printMessage('bad_proximity_sensor')
self.blinkLEDs_error()
return -1
elif (sensor_type == enums.SensorType.emergencyStop):
if (position != 1):
messages.printMessage('bad_emergency_sensor')
self.blinkLEDs_error()
return -1
else:
messages.printMessage('bad_sensor')
self.blinkLEDs_error()
return -1
value = self.sensors.readSensor(sensor_type, position)
if sensor_type == enums.SensorType.light:
return value
if (upperBoundLight - lowerBoundLight) == 0:
messages.printMessage('no_calibration')
self.blinkLEDs_error()
return -1
# Scale
lightVal = int(9 - round(abs(value-upperBoundLight)/(abs(upperBoundLight - lowerBoundLight)/9)))
if lightVal < 0:
messages.printMessage('no_calibration')
self.blinkLEDs_error()
return -1
return lightVal
elif sensor_type == enums.SensorType.touch:
return self.getSwitchTriggered(position,value)
elif sensor_type == enums.SensorType.emergencyStop:
return value % 2
else:
return value
def getSwitchTriggered(self, position, value):
if self.lastTouch[position-1]<0:
self.lastTouch[position-1]=value
return 0
elif self.lastTouch[position-1]==value:
return 0
else:
self.lastTouch[position-1]=value
return 1
def getLEDValue(self, position):
if (position < 1 or position > 4):
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
return self.actuators.getActuatorValue(enums.ActuatorType.led, position)
def setLEDValue(self, position, value):
if(position < 1 or position > 4):
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
if(value != 0 and value != 1):
messages.printMessage('bad_LED_value')
self.blinkLEDs_error()
return -1
self.actuators.setActuatorValue(enums.ActuatorType.led, position, value)
return 0
def blinkLEDs(self, positions, numberOfBlinks, delay, blocking = False):
if numberOfBlinks < 0:
messages.printMessage('blinks_negative')
self.blinkLEDs_error()
return -1
if numberOfBlinks == 0:
messages.printMessage('blinks_zero')
self.blinkLEDs_error()
return -1
if delay < 0:
messages.printMessage('blinking_fast')
self.blinkLEDs_error()
return -1
try:
for y in range(0, len(positions)):
if positions[y] < 0 or positions[y] > 4:
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
except TypeError: # It's not an array but an integer
if positions < 0 or positions > 4:
messages.printMessage('bad_LED')
self.blinkLEDs_error()
return -1
previousStateLEDs = [ self.getLEDValue(x) for x in range(1, 5) ]
cont = True
# Infinite loop to "stop" the execution of the program and keep blinkind the LEDs
while cont:
for x in range(0, numberOfBlinks):
try:
for y in range(0, len(positions)):
self.actuators.setActuatorValue(enums.ActuatorType.led, positions[y], 1)
time.sleep(delay)
for y in range(0, len(positions)):
self.actuators.setActuatorValue(enums.ActuatorType.led, positions[y], 0)
time.sleep(delay)
except TypeError: # It's not an array but an integer
self.actuators.setActuatorValue(enums.ActuatorType.led, positions, 1)
time.sleep(delay)
self.actuators.setActuatorValue(enums.ActuatorType.led, positions, 0)
time.sleep(delay)
cont = blocking
# If it doesn't block, the previous state of the LEDs is restored
for x in range(1, 5):
self.setLEDValue(x, previousStateLEDs[x - 1])
return 0
def blinkLEDs_error(self):
self.blinkLEDs([1, 2, 3, 4], 3, 0.2, blocking = True)
def moveMotors(self, stepsWheelA, stepsWheelB, delayWheelA, delayWheelB, direction):
if( direction != enums.Direction.backwards_right and direction != enums.Direction.backwards_left and direction != enums.Direction.forwards_right and direction != enums.Direction.forwards_left and direction != enums.Direction.forwards and direction != enums.Direction.backwards and direction != enums.Direction.clockwise and direction != enums.Direction.counterClockwise ) :
messages.printMessage('bad_direction')
self.blinkLEDs_error()
return -1
if(stepsWheelA < 0 or stepsWheelB < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if((stepsWheelA > 0 and delayWheelA < self.minDelayMotors) or (stepsWheelB > 0 and delayWheelB < self.minDelayMotors)):
messages.printMessage('bad_delay')
self.blinkLEDs_error()
return -1
# If a stop command has been sent, the turtle will stop its movement
if self.getSensorData(enums.SensorType.emergencyStop, 1) == 0:
if self.getStateTortoise() == enums.State.running:
self.setStateTortoise(enums.State.paused)
messages.printMessage('paused')
else:
if self.getStateTortoise() == enums.State.paused:
self.setStateTortoise(enums.State.running)
messages.printMessage('resumed')
motorAprocess_backwards = Process(target=self.A.backwards, args=(delayWheelA / 1000.00, stepsWheelA))
motorBprocess_backwards = Process(target=self.B.backwards, args=(delayWheelB / 1000.00, stepsWheelB))
motorAprocess_forwards = Process(target=self.A.forwards, args=(delayWheelA / 1000.00, stepsWheelA))
motorBprocess_forwards = Process(target=self.B.forwards, args=(delayWheelB / 1000.00, stepsWheelB))
if direction == enums.Direction.backwards_left or direction == enums.Direction.backwards or direction == enums.Direction.backwards_right:
if stepsWheelA > 0:
motorAprocess_backwards.start()
if stepsWheelB > 0:
motorBprocess_backwards.start()
elif direction == enums.Direction.forwards_right or direction == enums.Direction.forwards or direction == enums.Direction.forwards_left:
if stepsWheelA > 0:
motorAprocess_forwards.start()
if stepsWheelB > 0:
motorBprocess_forwards.start()
elif direction == enums.Direction.clockwise:
if stepsWheelA > 0:
motorAprocess_backwards.start()
if stepsWheelB > 0:
motorBprocess_forwards.start()
elif direction == enums.Direction.counterClockwise:
if stepsWheelA > 0:
motorAprocess_forwards.start()
if stepsWheelB > 0:
motorBprocess_backwards.start()
# The main loop pools the emergencyStop
while motorAprocess_backwards.is_alive() or motorBprocess_backwards.is_alive() or motorAprocess_forwards.is_alive() or motorBprocess_forwards.is_alive():
# If a stop command has been sent, the turtle will stop its movement
if self.getSensorData(enums.SensorType.emergencyStop, 1) == 0:
if self.getStateTortoise() == enums.State.running:
self.setStateTortoise(enums.State.paused)
messages.printMessage('paused')
if motorAprocess_backwards.is_alive():
motorAprocess_backwards.terminate()
motorAprocess_backwards.join()
if motorBprocess_backwards.is_alive():
motorBprocess_backwards.terminate()
motorBprocess_backwards.join()
if motorAprocess_forwards.is_alive():
motorAprocess_forwards.terminate()
motorAprocess_forwards.join()
if motorBprocess_forwards.is_alive():
motorBprocess_forwards.terminate()
motorBprocess_forwards.join()
elif self.getStateTortoise() == enums.State.paused:
self.setStateTortoise(enums.State.running)
messages.printMessage('resumed')
time.sleep(0.5)
self.A.stopMotors()
self.B.stopMotors()
return 0
def moveForwards(self, steps):
return self.moveMotors(steps, steps, self.minDelayMotors, self.minDelayMotors, enums.Direction.forwards)
def moveBackwards(self, steps):
return self.moveMotors(steps, steps, self.minDelayMotors, self.minDelayMotors, enums.Direction.backwards)
def turnOnTheSpot(self, steps, direction):
if(steps < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if( direction != enums.Direction.backwards_right and direction != enums.Direction.backwards_left and
direction != enums.Direction.forwards_right and direction != enums.Direction.forwards_left ) :
messages.printMessage('bad_direction_turn')
self.blinkLEDs_error()
return -1
if direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right:
return self.moveMotors(steps, 0, self.minDelayMotors, 0, direction)
elif direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left:
return self.moveMotors(0, steps, 0, self.minDelayMotors, direction)
def shuffleOnTheSpot(self, steps, direction):
if(steps < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if( direction != enums.Direction.clockwise and direction != enums.Direction.counterClockwise ) :
messages.printMessage('bad_shuffle')
self.blinkLEDs_error()
return -1
return self.moveMotors(steps, steps, self.minDelayMotors, self.minDelayMotors, direction)
def turn(self, stepsWheelA, stepsWheelB, direction):
if( direction != enums.Direction.backwards_right and direction != enums.Direction.backwards_left and
direction != enums.Direction.forwards_right and direction != enums.Direction.forwards_left ) :
messages.printMessage('bad_direction_turn')
self.blinkLEDs_error()
return -1
if (direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right) and (stepsWheelB >= stepsWheelA):
messages.printMessage('bad_turn')
self.blinkLEDs_error()
return -1
if (direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left) and (stepsWheelA >= stepsWheelB):
messages.printMessage('bad_turn')
self.blinkLEDs_error()
return -1
if(stepsWheelA < 0 or stepsWheelB < 0):
messages.printMessage('bad_steps')
self.blinkLEDs_error()
return -1
if direction == enums.Direction.backwards_right or direction == enums.Direction.forwards_right:
delay = (stepsWheelA * self.minDelayMotors) / stepsWheelB
return self.moveMotors(stepsWheelA, stepsWheelB, self.minDelayMotors, delay, direction)
elif direction == enums.Direction.backwards_left or direction == enums.Direction.forwards_left:
delay = (stepsWheelB * self.minDelayMotors) / stepsWheelA
return self.moveMotors(stepsWheelA, stepsWheelB, delay, self.minDelayMotors, direction)
def doRandomMovement2(self):
maxTimesCommandRepeated = 3
# New random command
if self.numberRepeatsRandomCommand == -1 or self.timesSameRandomCommandExecuted == self.numberRepeatsRandomCommand:
self.numberRepeatsRandomCommand = np.random.randint(maxTimesCommandRepeated + 1)
self.timesSameRandomCommandExecuted = 0
# Random number between 30 and 180
numberOfSteps = np.random.randint(30, 180)
self.lastRandomStepsWheelA = numberOfSteps
self.lastRandomStepsWheelB = numberOfSteps
# Random number between 0 and 1
randomNumber = np.random.random_sample()
if(randomNumber < 0.4):
if(randomNumber < 0.2):
self.moveForwards(numberOfSteps)
self.lastRandomCommand = self.moveForwards
else:
self.moveBackwards(numberOfSteps)
self.lastRandomCommand = self.moveBackwards
else:
# Random enums.Direction: left of right
if(np.random.random_sample() < 0.5):
direction = enums.Direction.forwards_left
else:
direction = enums.Direction.forwards_right
self.lastRandomDirection = direction
if(randomNumber < 0.7):
self.turnOnTheSpot(numberOfSteps, direction)
else:
self.turnOnTheSpot(numberOfSteps, direction)
self.lastRandomCommand = self.turnOnTheSpot
# Repeat last command
else:
self.timesSameRandomCommandExecuted = self.timesSameRandomCommandExecuted + 1
# TODO: change wheel A/B!
if self.lastRandomCommand == self.moveForwards:
self.moveForwards(self.lastRandomStepsWheelA)
elif self.lastRandomCommand == self.moveBackwards:
self.moveBackwards(self.lastRandomStepsWheelA)
elif self.lastRandomCommand == self.turnOnTheSpot:
self.turnOnTheSpot(self.lastRandomStepsWheelA, self.lastRandomDirection)
def doRandomMovement(self):
# Random number between 30 and (509/4 + 30)
numberOfSteps = int(509/4*np.random.random_sample() + 30)
# Random number between 0 and 1
randomNumber = np.random.random_sample()
if(randomNumber < 0.4):
if(randomNumber < 0.2):
self.moveForwards(numberOfSteps)
else:
self.moveBackwards(numberOfSteps)
else:
# Random enums.Direction: left of right
if(np.random.random_sample() < 0.5):
direction = enums.Direction.forwards_left
else:
direction = enums.Direction.forwards_right
if(randomNumber < 0.7):
self.turnOnTheSpot(numberOfSteps, direction)
else:
self.turnOnTheSpot(numberOfSteps, direction)
class HardwareAbstractionLayer:
ARM_ONE_LENGTH = 1
ARM_TWO_LENGTH = 1
Z_MOVEMENT_FACTOR = 5
ANGLE_DISPLACEMENT_MAGNITUDE = 0.5
def __init__(self):
z_pin = 18
angle_one_pin = 13
angle_two_pin = 12
self.z_motor = Motor(z_pin)
self.shoulder_motor = Motor(angle_one_pin, 20 * pi / 180)
self.elbow_motor = Motor(angle_two_pin, 70 * pi / 180)
self.shoulder_motor.change_angle(-1)
self.elbow_motor.change_angle(-1)
def translate_instrument(self, delta_x, delta_y):
desired = np.array([delta_x, delta_y])
theta_one = self.shoulder_motor.get_angle()
theta_two = self.elbow_motor.get_angle()
jacobian = self.compute_jacobian(theta_one, theta_two)
control_inputs = np.linalg.lstsq(jacobian, desired)[0]
if control_inputs[0] != 0 and control_inputs[1] != 0:
control_inputs[1] = -control_inputs[1]
# control_inputs[0] = -control_inputs[0] # TODO: check this
control_inputs = self.remap_controls(control_inputs)
return self.shoulder_motor.change_angle(
control_inputs[0]) and self.elbow_motor.change_angle(
control_inputs[1])
else:
return False
def remap_controls(self, control_inputs):
return control_inputs * (self.ANGLE_DISPLACEMENT_MAGNITUDE /
np.linalg.norm(control_inputs))
def move_instrument_up(self):
return self.z_motor.change_angle(self.Z_MOVEMENT_FACTOR)
def move_instrument_down(self):
return self.z_motor.change_angle(-self.Z_MOVEMENT_FACTOR)
def compute_jacobian(self, theta_one, theta_two):
l1 = self.ARM_ONE_LENGTH
l2 = self.ARM_TWO_LENGTH
t1 = theta_one
t2 = theta_two
dx_dt1 = l1 * sin(t1) - l2 * sin(t1 + t2)
dx_dt2 = -l2 * sin(t1 + t2)
dy_dt1 = l1 * cos(t1) + l2 * cos(t1 + t2)
dy_dt2 = l2 * cos(t1 + t2)
return np.array([[dx_dt1, dx_dt2], [dy_dt1, dy_dt2]])
def test_move(self, x, y, r=20):
for i in range(r):
self.translate_instrument(x, y)
def __init__(self):
global isLightCalibrated
global lowerBoundLight
global upperBoundLight
GPIO.setwarnings(False)
# self.lock = threading.RLock()
self.lastRandomCommand = None
self.timesSameRandomCommandExecuted = 0
self.numberRepeatsRandomCommand = -1
self.lastRandomStepsWheelA = None
self.lastRandomStepsWheelB = None
self.lastRandomDirection = None
isLightCalibrated = False
lowerBoundLight = 0
upperBoundLight = 0
# Previous: [4, 17, 23, 24, 27, 22, 18, 5]
motorPins = [13, 6, 5, 7, 20, 10, 9, 11]
ledPins = [8, 16, 25, 12]
# CREATING FILE WITH PID
# PID of process
pid = os.getpid()
# ~/.tortoise_pids/
directory = os.path.expanduser("~") + "/.tortoise_pids/"
# Filename: [PID].pid
f = open(directory + str(pid) + ".pid", "w")
# First line: motor pins
f.write(str(motorPins[0]) + " " + str(motorPins[1]) + " " + str(motorPins[2]) + " " + str(motorPins[3]) + " " + str(motorPins[4]) + " " + str(motorPins[5]) + " " + str(motorPins[6]) + " " + str(motorPins[7]) + "\n")
# Second line: LED pins
f.write(str(ledPins[0]) + " " + str(ledPins[1]) + " " + str(ledPins[2]) + " " + str(ledPins[3]) + "\n")
f.close()
# ----------------------
# TODO: change to self.Motor.Left
self.A = Motor(motorPins[0], motorPins[1], motorPins[2], motorPins[3])
self.B = Motor(motorPins[4], motorPins[5], motorPins[6], motorPins[7])
self.sensors = Sensors()
self.actuators = Actuators()
self.minDelayMotors = 2
self.state = enums.State.paused
self.sensors.setSensor(enums.SensorType.light, 1, 17) # Previous: 16
self.sensors.setSensor(enums.SensorType.light, 2, 4) # Previous: 2
self.sensors.setSensor(enums.SensorType.emergencyStop, 1, 3) # Previous: 6
self.sensors.setSensor(enums.SensorType.touch, 1, 27) # Previous: 8
self.sensors.setSensor(enums.SensorType.touch, 2, 2) # Previous: 13
self.sensors.setSensor(enums.SensorType.touch, 3, 18) # Previous: 7
self.sensors.setSensor(enums.SensorType.proximity, 1, 19) # Previous: 10
self.sensors.setSensor(enums.SensorType.proximity, 2, 21) # Previous: 11
self.sensors.setSensor(enums.SensorType.proximity, 3, 22) # Previous: x
self.sensors.setSensor(enums.SensorType.proximity, 4, 26) # Previous: x
self.actuators.initActuator(enums.ActuatorType.led, 1, ledPins[0]) # Previous: 19
self.actuators.initActuator(enums.ActuatorType.led, 2, ledPins[1]) # Previous: 26
self.actuators.initActuator(enums.ActuatorType.led, 3, ledPins[2]) # Previous: x
self.actuators.initActuator(enums.ActuatorType.led, 4, ledPins[3]) # Previous: x
self.lastTouch = [-1,-1,-1]
#print "light sensor value:"
#print self.sensors.readSensor(enums.SensorType.light, 1)
#if not isLightCalibrated:
#self.calibrateLight()
# try:
# thread.start_new_thread(self.pauseAndResume, ())
# except:
# print "Error: unable to start thread"
messages.printMessage('greetings')
while self.getSensorData(enums.SensorType.emergencyStop, 1) == 0:
time.sleep(0.1)
messages.printMessage('running')
self.state = enums.State.running
in the range (-100,100)
"""
def limitThrust(thrust, upperLimit = 100, lowerLimit = 0):
if thrust > upperLimit:
thrust = upperLimit
elif thrust < lowerLimit:
thrust = lowerLimit
return thrust
#instantiate IMU
#TODO see how to import C interface to python
imu=IMU()
#MyKalman=KalmanFilter(....)
#instantiate motors and put them together in a list
motor1=Motor(1)
motor2=Motor(2)
motor3=Motor(3)
motor4=Motor(4)
motors=[motor1,motor2,motor3,motor4]
# instantiate PID controllers and init them
rollPID=PID(0.9, 0.2, 0.3) # Kp, Kd, Ki
pitchPID=PID(0.9, 0.2, 0.3)
yawPID=PID(0.06, 0.02, 0.01)
#zPID=PID(.....)
#xposPID=PID(.....)
#yposPID=PID(.....)
#init pitch, roll and yaw:
roll = 0
#GPIO.setup("P8_11", GPIO.OUT)
#GPIO.output("P8_11", GPIO.HIGH)
#
#GPIO.setup("P9_15", GPIO.OUT)
#GPIO.output("P9_15", GPIO.HIGH)
#
#GPIO.setup("P9_23", GPIO.OUT)
#GPIO.output("P9_23", GPIO.HIGH)
###############################
# initial timer
time.sleep(10)
speed = 10
m1 = Motor(1);
m1.setSpeed(speed);
m1.go()
m2 = Motor(2);
m2.setSpeed(speed);
m2.go()
m3 = Motor(3);
m3.setSpeed(speed);
m3.go()
m4 = Motor(4);
m4.setSpeed(speed));
m4.go()
