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readimu_retry.py
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readimu_retry.py
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#!/usr/bin/python
# ADC REFERENCE GOES FROM 0-4095
#4095 is 3V, 0 is 0V.
# each increment is 0.729mV
import time, sys
import serial
import lib.motetalk as motetalk
from lib.motetalk import cmd, packetify, setpwm
ser = serial.Serial("COM6",115200)
height_data = open('height_data.csv', 'w')
motor_data = open('motor_data.csv', 'w')
average_value = 0
reference = 670 #about 75cm off the ground
error_term = 0
old_error_term = 0
measurement = 0
motor_output = 0
period = 120
frequency = 100/12
const_proportional = 100
const_integral = 0
const_differential = 0
integral = 0
differential = 0
proportional = 0
def measureheight(number):
a = number / 100
b = (number - (a*100))/10
c = number - (a*100) - (b*10)
sys.stderr.write("a b c are " + str(a) + " " + str(b) + " " + str(c))
height_data.write(number)
return (a, b, c)
#test split number
def splitnumber(number):
a = number / 100
if (a>=3):
sys.stderr.write("sent to motor: 255\t\t")
return (2, 5, 5)
else:
b = (number - (a*100))/10
c = number - (a*100) - (b*10)
sys.stderr.write("sent to motor:" + str(a) + str(b) + str(c) +"\t\t")
return (a, b, c)
#end of test split number
def write_to_serial((a, b, c)):
#ser.write(1)
#ser.write(0)
#ser.write(0)
# ser.write(a&0x000000ff)
# ser.write(b&0x000000ff)
# numberofbytes = ser.write(c&0x000000ff)
ser.write(a)
ser.write(b)
ser.write(c)
def combine_number((a, b, c)):
return a*100+b*10+c
def startup(m):
m.sendbase(cmd.radio(20))
m.sendheli(cmd.flags(cmd.ledmode_cnt + cmd.tick))
m.sendheli(cmd.mode(cmd.mode_imu_loop))
m.sendbase(cmd.flags(cmd.ledmode_cnt + cmd.notick))
m.sendbase(cmd.mode(cmd.mode_sniff))
def end(m):
m.sendbase(cmd.mode(cmd.mode_spin))
m.end()
num_good = 0
num_bad = 0
num_skip = 0
done = 0
n = 0
oldarr = []
openwsnheader = "n sx sy z1 z3 ta mx my mz lx ly lz ti gx gy gz chk lqi rssi"
openwsnfmtstr = '!xxH H H H H H h h h H H H H h h h H B B'
frequency_divider = 0 #helps to slow the adc inputs to basestation
#YK's PID controller here
def pid():
global error_term, average_value, measurement, integral, const_integral, period, differential, const_differential, old_error_term, proportional, const_proportional, motor_output
error_term = reference - average_value
integral = integral + error_term * const_integral * period
differential = const_differential * (error_term - old_error_term) / period
proportional = error_term * const_proportional
old_error = error_term
motor_output = integral + differential + proportional
if motor_output>255:
motor_output = 255
elif motor_output<190:
motor_output = 190
#YK's PID controller ends
m = motetalk.motetalk(openwsnfmtstr, openwsnheader, "COM10")
startup(m)
#yk = open("yk.txt", "w")
#ser.write("p")
sys.stderr.write( "Sniffing...\n")
print "ts " + openwsnheader
# put the stuff here
#try:
#(arr, t, crc) = m.nextline()
#(arr, t, crc) = m.nextline()
#(arr, t, crc) = m.nextline()
#except:
#pass
oldvalue = (0, 0, 0) #stores the value to send if there is an error in transmission
tempvalue = (0, 0, 0) #stores the value to send to motor right after pid calculation
while not done:
try:
(arr, t, crc) = m.nextline()
if (arr == False):
done = 1
sys.stderr.write("\n** Error ** ")
sys.stderr.write(repr(t) + "\n\n")
elif arr:
if crc:
# if (frequency_divider ==0):
# sys.stderr.write("bad:\n")
# write_to_serial(oldvalue)
# height_data.write("xxx")
sys.stderr.flush()
num_bad = num_bad + 1
else:
if oldarr:
dn = ((arr[0] - n + 32768) % 65536) - 32768
if dn == 1:
#sys.stderr.write(".")
pass
else:
#sys.stderr.write("!%d!" % (dn - 1))
num_skip = num_skip + dn - 1
#sys.stderr.flush()
pass
#print repr(t), " ".join(map(repr,arr))
if (frequency_divider == 0):
measurement = arr[6]
average_value = (average_value + measurement)/40
pid()
height_data.write(str(measurement) + "\n")
motor_data.write(str(motor_output) + "\n")
tempvalue = splitnumber(motor_output)
write_to_serial(tempvalue)
oldvalue = tempvalue
sys.stderr.write("Value of readings: ")
print arr[6]
sys.stderr.write("\n")
average_value = 0
else:
average_value = average_value + arr[6]
n = arr[0]
oldarr = arr
num_good = num_good + 1
else: #else from the elif arr
# if (frequency_divider ==0):
# write_to_serial(oldvalue)
# height_data.write("xxx")
sys.stderr.write("x")
sys.stderr.flush()
num_bad = num_bad + 1
if frequency_divider >=39:
frequency_divider = 0
else:
frequency_divider = frequency_divider + 1
except TypeError:
# if (frequency_divider==0):
# write_to_serial(oldvalue)
# height_data.write("xxx")
# motor_data.write(oldvalue)
frequency_divider = frequency_divider + 1
sys.stderr.write("\nNOOB... \n")
sys.stderr.write(repr(sys.exc_info()))
done = 0
except:
sys.stderr.write(repr(sys.exc_info()))
sys.stderr.write("\nQuitting... \n")
#ser.write("o")
done = 1
end(m)
sys.stderr.write( "%d Successful packets recieved\n" % num_good)
sys.stderr.write( "%d packet errors\n" % num_bad)
sys.stderr.write( "%d skipped packets\n" % num_skip)
if (num_skip + num_good):
sys.stderr.write( "%4.2f%% packet drop rate\n" % (num_skip * 100.0 / (num_skip + num_good)))