def init_hardware():
"""
Initialize the software representation of the hardware, i.e.
Sensors, Proportional Valves, and Discrete Valves
The connected Pins are hardcoded here!
Return:
(list of sensors.DPressureSens): list of software repr of initialized
Sensors
(list of actuators.Valve): list of software repr of initialized
proportional valves
(list of actuators.DValve): list of software repr of initialized
discrete valves
"""
print("Initialize Sensors ...")
sens = []
sets = [{'name': '0', 'id': 4},
{'name': '1', 'id': 5},
{'name': '2', 'id': 2},
{'name': '3', 'id': 3},
{'name': '4', 'id': 0},
{'name': '5', 'id': 1},
{'name': '6', 'id': 7},
{'name': '7', 'id': 6}]
for s in sets:
sens.append(sensors.DPressureSens(name=s['name'], mplx_id=s['id'],
maxpressure=MAX_PRESSURE))
print('Initialize Valves ...')
valve = []
sets = [{'name': '0', 'pin': 'P9_22'}, # Upper Left Leg
{'name': '1', 'pin': 'P8_19'}, # Upper Right Leg
{'name': '2', 'pin': 'P9_21'}, # Left Belly
{'name': '3', 'pin': 'P8_13'}, # Right Belly
{'name': '4', 'pin': 'P9_14'}, # Lower Left Leg
{'name': '5', 'pin': 'P9_16'}, # Lower Right Leg
{'name': '6', 'pin': 'P9_28'},
{'name': '7', 'pin': 'P9_42'}]
for elem in sets:
valve.append(actuators.Valve(name=elem['name'], pwm_pin=elem['pin']))
dvalve = []
dsets = [{'name': '0', 'pin': 'P8_10'}, # Upper Left Leg
{'name': '1', 'pin': 'P8_7'}, # Upper Right Leg
{'name': '2', 'pin': 'P8_8'}, # Lower Left Leg
{'name': '3', 'pin': 'P8_9'}] # Lower Right Leg]
for elem in dsets:
dvalve.append(actuators.DiscreteValve(
name=elem['name'], pin=elem['pin']))
return sens, valve, dvalve
def init_channels():
"""
Initialize the software representation of the hardware, i.e.
Sensors, Proportional Valves, and Discrete Valves
"""
rootLogger.info("Initialize IMUs ...")
# mplx address for IMU is 0x71
imu_set = [imu for imu in IMUset]
imu_used_ = [CHANNELset[name]['IMUs'] for name in CHANNELset]
while [None] in imu_used_:
imu_used_.remove([None])
imu_used = list(np.unique([imu for subl in imu_used_ for imu in subl]))
for imu in imu_used:
if imu not in imu_set and imu is not None:
raise KeyError(
'IMU with name "{}"'.format(imu) + ' is used for angle' +
'calculation, but is not in the set of connected IMUs')
try:
IMU = {}
for name in IMUset:
IMU[name] = sensors.MPU_9150(name=name, mplx_id=IMUset[name]['id'])
except IOError: # not connected
IMU = False
rootLogger.info("IMU detected?: {}".format(not (not (IMU))))
rootLogger.info("Initialize Channels ...")
PSens, PValve, DValve, Controller, Imu_controller = {}, {}, {}, {}, {}
for name in CHANNELset:
PSens[name] = sensors.DPressureSens(
name=name,
mplx_id=CHANNELset[name]['PSensid'],
maxpressure=MAX_PRESSURE)
PValve[name] = actuators.Valve(name=name,
pwm_pin=CHANNELset[name]['pin'])
Controller[name] = ctrlib.PidController(CHANNELset[name]['ctr'],
TSAMPLING, MAX_CTROUT)
if CHANNELset[name]['IMUs'][-1]:
Imu_controller[name] = ctrlib.PidController(
CHANNELset[name]['ctrIMU'], TSAMPLING, MAX_CTROUT)
for name in DiscreteCHANNELset:
DValve[name] = actuators.DiscreteValve(
name=name, pin=DiscreteCHANNELset[name]['pin'])
return PSens, PValve, DValve, IMU, Controller, Imu_controller
def init_hardware():
"""
Initialize the software representation of the hardware, i.e.
Sensors, Proportional Valves, and Discrete Valves
The connected Pins are hardcoded here!
Return:
(list of sensors.DPressureSens): list of software repr of initialized
Sensors
(list of actuators.Valve): list of software repr of initialized
proportional valves
(list of actuators.DValve): list of software repr of initialized
discrete valves
"""
rootLogger.info("Initialize IMUs ...")
# mplx address for IMU is 0x71
IMU = []
sets = [{'name': '0', 'id': 0},
#{'name': '1', 'id': 1},
{'name': '2', 'id': 2},
{'name': '3', 'id': 3},
#{'name': '4', 'id': 4},
{'name': '5', 'id': 5}]
try:
for s in sets:
IMU.append(sensors.MPU_9150(name=s['name'], mplx_id=s['id']))
except IOError: # not connected
IMU = False
rootLogger.info("IMU detected?: {}".format(not(not(IMU))))
rootLogger.info("Initialize Pressure Sensors ...")
sens = []
sets = [{'name': '0', 'id': 4},
{'name': '1', 'id': 5},
{'name': '2', 'id': 2},
{'name': '3', 'id': 3},
{'name': '4', 'id': 0},
{'name': '5', 'id': 1},
{'name': '6', 'id': 7},
{'name': '7', 'id': 6}]
for s in sets:
sens.append(sensors.DPressureSens(name=s['name'], mplx_id=s['id'],
maxpressure=MAX_PRESSURE))
rootLogger.info('Initialize Valves ...')
valve = []
sets = [{'name': '0', 'pin': 'P9_22'}, # Upper Left Leg
{'name': '1', 'pin': 'P8_19'}, # Upper Right Leg
{'name': '2', 'pin': 'P9_21'}, # Left Belly
{'name': '3', 'pin': 'P8_13'}, # Right Belly
{'name': '4', 'pin': 'P9_14'}, # Lower Left Leg
{'name': '5', 'pin': 'P9_16'}, # Lower Right Leg
{'name': '6', 'pin': 'P9_28'},
{'name': '7', 'pin': 'P9_42'}]
for elem in sets:
valve.append(actuators.Valve(name=elem['name'], pwm_pin=elem['pin']))
dvalve = []
dsets = [{'name': '0', 'pin': 'P8_10'}, # Upper Left Leg
{'name': '1', 'pin': 'P8_7'}, # Upper Right Leg
{'name': '2', 'pin': 'P8_8'}, # Lower Left Leg
{'name': '3', 'pin': 'P8_9'}] # Lower Right Leg]
for elem in dsets:
dvalve.append(actuators.DiscreteValve(
name=elem['name'], pin=elem['pin']))
return sens, valve, dvalve, IMU