def test_asservissement_ch2():
pin_ch_a = Pin(21)
pin_ch_b = Pin(20)
encoder = Encoder(pin_ch_a, pin_ch_b,reverse_direction = False)
pin_dir = Pin(6)
pin_speed = Pin(7)
motor = Motor(pin_dir, pin_speed,reverse_sense=True)
motor.off()
Kp = 1
Ki = 0
Kd = 0
filter = Filter(Kp, Ki, Kd)
controler = Controler(encoder, motor, filter)
ramp_inc = generate_ramp(0, 100, 4)
plateau = generate_plateau(400,2)
ramp_dec = generate_ramp(400, -100, 4)
controler.position_loop(ramp_inc)
controler.position_loop(plateau)
controler.position_loop(ramp_dec)
motor.off()
def test_asservissement_2chan():
ch1_pin_ch_a = Pin(19)
ch1_pin_ch_b = Pin(18)
ch1_encoder = Encoder(ch1_pin_ch_a, ch1_pin_ch_b,reverse_direction = False)
ch1_pin_dir = Pin(8)
ch1_pin_speed = Pin(9)
ch1_motor = Motor(ch1_pin_dir, ch1_pin_speed,reverse_sense=True)
ch1_motor.off()
ch2_pin_ch_a = Pin(21)
ch2_pin_ch_b = Pin(20)
ch2_encoder = Encoder(ch2_pin_ch_a, ch2_pin_ch_b,reverse_direction = False)
ch2_pin_dir = Pin(6)
ch2_pin_speed = Pin(7)
ch2_motor = Motor(ch2_pin_dir, ch2_pin_speed,reverse_sense=True)
ch2_motor.off()
Kp = 1
Ki = 0
Kd = 0
ch1_filter = Filter(Kp, Ki, Kd)
ch2_filter = Filter(Kp, Ki, Kd)
ch1_controler = Controler(ch1_encoder, ch1_motor, ch1_filter)
ch2_controler = Controler(ch2_encoder, ch2_motor, ch2_filter)
dual_controler = ControlerMultiChannel(ch1_controler, ch2_controler)
# ramp_inc = generate_ramp(0, 100, 1)
ramp_inc = generate_ramp(0, 100, 4)
plateau = generate_plateau(400,2)
ramp_dec = generate_ramp(400, -100, 4)
dual_controler.position_loop(ramp_inc, ramp_inc)
dual_controler.position_loop(plateau, plateau)
dual_controler.position_loop(ramp_dec, ramp_dec)
ch1_motor.off()
ch2_motor.off()
def test_asservissement_ch1_speed():
pin_ch_a = Pin(21)
pin_ch_b = Pin(20)
encoder = Encoder(pin_ch_a, pin_ch_b,reverse_direction = False)
pin_dir = Pin(6)
pin_speed = Pin(7)
motor = Motor(pin_dir, pin_speed,reverse_sense=True)
motor.off()
Kp = 20
filter = Filter(Kp, 0, 0)
controler = Controler(encoder, motor, filter)
ramp_inc = generate_ramp(0, 5, 1)
plateau = generate_plateau(5,5)
ramp_dec = generate_ramp(5, -5, 1)
controler.speed_loop(ramp_inc)
controler.speed_loop(plateau)
controler.speed_loop(ramp_dec)
def test_asservissement_ch2_2():
pin_ch_a = Pin(21)
pin_ch_b = Pin(20)
encoder = Encoder(pin_ch_a, pin_ch_b,reverse_direction = False)
pin_dir = Pin(6)
pin_speed = Pin(7)
motor = Motor(pin_dir, pin_speed,reverse_sense=True)
motor.off()
Kp = 1
filter = Filter(Kp, 0, 0)
controler = Controler(encoder, motor, filter)
ramp_inc = generate_ramp(0, 100, 1)
controler.position_loop(ramp_inc)
def test_asservissement_ch2_2():
pin_dir = Pin(16)
pin_speed = Pin(17)
motor = Motor(pin_dir, pin_speed)
motor.off()
pin_ch_a = Pin(18)
pin_ch_b = Pin(19)
encoder = Encoder(pin_ch_a, pin_ch_b)
Kp = 1
filter = Filter(Kp, 0, 0)
controler = Controler(encoder, motor, filter)
ramp_inc = generate_ramp(0, 100, 0.2)
controler.position_loop(ramp_inc)
def test_asservissement_2chan_speed():
ch1_pin_ch_a = Pin(19)
ch1_pin_ch_b = Pin(18)
ch1_encoder = Encoder(ch1_pin_ch_a, ch1_pin_ch_b,reverse_direction = False)
ch1_pin_dir = Pin(8)
ch1_pin_speed = Pin(9)
ch1_motor = Motor(ch1_pin_dir, ch1_pin_speed,reverse_sense=True)
ch1_motor.off()
ch2_pin_ch_a = Pin(21)
ch2_pin_ch_b = Pin(20)
ch2_encoder = Encoder(ch2_pin_ch_a, ch2_pin_ch_b,reverse_direction = False)
ch2_pin_dir = Pin(6)
ch2_pin_speed = Pin(7)
ch2_motor = Motor(ch2_pin_dir, ch2_pin_speed,reverse_sense=True)
ch2_motor.off()
Kp = 0.1
Ki = 0
Kd = 0
ch1_filter = Filter(Kp, Ki, Kd)
ch2_filter = Filter(Kp, Ki, Kd)
ch1_controler = Controler(ch1_encoder, ch1_motor, ch1_filter)
ch2_controler = Controler(ch2_encoder, ch2_motor, ch2_filter)
dual_controler = ControlerMultiChannel(ch1_controler, ch2_controler)
# # Acceleration
# ramp_inc = generate_ramp(0, 180, 1)
# # plateau
# plateau = generate_plateau(180, 2)
#
# # rotation
# rot1 = generate_plateau(320, 2)
# rot2 = generate_plateau(-320, 2)
#
# # Deceleration
# ramp_dec = generate_ramp(180, -180, 1)
#
# dual_controler.speed_loop(ramp_inc, ramp_inc)
# dual_controler.speed_loop(plateau, plateau)
# dual_controler.speed_loop(rot1, rot2)
# dual_controler.speed_loop(plateau, plateau)
# dual_controler.speed_loop(ramp_dec, ramp_dec)
# dual_controler.speed_loop(rot2, rot1)
ramp_inc = generate_ramp(0, 400, 1)
plateau = generate_plateau(400, 1)
ramp_dec = generate_ramp(400, -400, 1)
dual_controler.speed_loop(ramp_inc, ramp_inc)
dual_controler.speed_loop(plateau, plateau)
dual_controler.speed_loop(ramp_dec, ramp_dec)
ch1_motor.off()
ch2_motor.off()
