class BotController(object):
"""
This controller uses PID in a closed-loop to stabilise bot speed regardless
of surface it is on (hard, carpet, asphalt).
It also presents signed ticks and signed speed readings to the user,
courtesy of Helper class (see below).
This class expects that its on_timer() method is called at 100Hz frequency.
"""
def __init__(self, config):
self._motors = Motors(config)
self._sensors = Sensors(config)
def left_speed():
return self._sensors.speed_left
def right_speed():
return self._sensors.speed_right
def left_ticks():
return self._sensors.enc_ticks_left
def right_ticks():
return self._sensors.enc_ticks_left
self._left = Helper(speed_sensor=left_speed,
ticks_sensor=left_ticks)
self._right = Helper(speed_sensor=right_speed,
ticks_sensor=right_ticks)
def start(self):
self._sensors.start()
def stop(self):
self._motors.run(0, 0)
self._motors.close()
self._sensors.stop()
def on_timer(self):
self._sensors.read()
self._left.on_timer()
self._right.on_timer()
self._motors.run(self._left.torque, self._right.torque)
def run(self, speed_left, speed_right):
self._left.run(speed_left)
self._right.run(speed_right)
@property
def ticks(self):
return self._left.ticks, self._right.ticks
@property
def actual_speed(self):
return self._left.speed, self._right.speed
@property
def timer(self):
return self._sensors.timer
@property
def values(self):
return self._sensors.values
from robot.motor import Motors from robot.sensors import Sensors import config import time if __name__ == '__main__': SPEED = 40 motors = Motors(config) sensors = Sensors(config) sensors.start() torque = 0 data = [] for _ in range(300): time.sleep(0.01) sensors.read() data.append((sensors.timer, sensors.speed_left, sensors.speed_right, sensors.enc_ticks_left, sensors.enc_ticks_right, torque)) if _ == 50: torque = SPEED motors.run(SPEED, SPEED)
class BotController(object):
"""
This controller uses PID in a closed-loop to stabilise bot speed regardless
of surface it is on (hard, carpet, asphalt).
It also presents signed ticks and signed speed readings to the user,
courtesy of Helper class (see below).
This class expects that its on_timer() method is called at 100Hz frequency.
"""
def __init__(self, config):
self._motors = Motors(config)
self._sensors = Sensors(config)
def left_speed():
return self._sensors.speed_left
def right_speed():
return self._sensors.speed_right
def left_ticks():
return self._sensors.enc_ticks_left
def right_ticks():
return self._sensors.enc_ticks_right
self._left = Helper(speed_sensor=left_speed, ticks_sensor=left_ticks)
self._right = Helper(speed_sensor=right_speed,
ticks_sensor=right_ticks)
def start(self):
self._sensors.start()
def stop(self):
self._motors.run(0, 0)
self._motors.close()
self._sensors.stop()
def on_timer(self):
self._sensors.read()
self._left.on_timer()
self._right.on_timer()
self._motors.run(self._left.torque, self._right.torque)
def run(self, speed_left, speed_right):
self._left.run(speed_left)
self._right.run(speed_right)
@property
def ticks(self):
return self._left.ticks, self._right.ticks
@property
def actual_speed(self):
return self._left.speed, self._right.speed
@property
def timer(self):
return self._sensors.timer
@property
def values(self):
return self._sensors.values
from robot.motor import Motors
from robot.sensors import Sensors
import config
import time
if __name__ == '__main__':
SPEED = 40
motors = Motors(config)
sensors = Sensors(config)
sensors.start()
torque = 0
data = []
for _ in range(300):
time.sleep(0.01)
sensors.read()
data.append((sensors.timer, sensors.speed_left, sensors.speed_right,
sensors.enc_ticks_left, sensors.enc_ticks_right, torque))
if _ == 50:
torque = SPEED
motors.run(SPEED, SPEED)
if _ == 150:
torque = -SPEED
motors.run(-SPEED, -SPEED)
