def feedback_Ramp(desiredValue):
pid = PID()
ser2 = serial.Serial("/dev/ttyUSB0", 115200) #ser2 for consistency
count2 = 0
currentcount2 = 0
desiredcount2 = 33
# prevcount2 = 0
initialcount2 = 0
pid.SetKp(1.1)
pid.SetDesired(desiredValue)
while True:
delta2 = encoder2.get_delta()
if delta2 != 0:
count2 = count2 + delta2
currentcount2 = count2
print ('{:15}{count}'.format('enc count2', count = count2))
if abs(currentcount2-initialcount2) > desiredcount2:
print ('Reached end, exiting count function')
currentcount2 = 0
break
def feedback_Turn(desiredValue):
pid = PID()
ser2 = serial.Serial("/dev/ttyUSB0", 115200) #ser2 for consistency
count1 = 0
currentcount1 = 0
desiredcount1 = 33
# prevcount1 = 0
initialcount1 = 0
pid.SetKp(1.1)
pid.SetDesired(desiredValue)
while True:
delta1 = encoder1.get_delta()
if delta1 != 0:
count1 = count1 + delta1
currentcount1 = count1
error = pid.desired-abs(currentcount1)
if abs(currentcount1-initialcount1) > desiredcount1:
print ('{:15}{count}'.format('enc count1', count = count1))
print ('Reached end, exiting count function')
currentcount1 = 0
break
#Command PTU to point at sun
ptu.ephem_point(ep, imu=imu, target='sun', init=False)
if ptu_offset_mode == 2:
#Command PTU to point at moon
ptu.ephem_point(ep, imu=imu, target='moon', init=False)
else:
track_mode = default_track_mode
filter_mode = default_filter_mode
ptu_offset_mode = default_ptu_offset_mode
#Initiate PID control loop
pid_x = PID(
step_size=params.ptu_step_size
) #'eighth' #pid_x will control azimuth ptu motor (assuming orientation of ss is correct)
pid_x.SetKp(kp_x)
pid_x.SetKi(ki_x)
pid_x.SetKd(kd_x)
pid_y = PID(
step_size=params.ptu_step_size
) #pid_y will control azimuth ptu motor (assuming orientation of ss is correct)
pid_y.SetKp(kp_y)
pid_y.SetKi(ki_y)
pid_y.SetKd(kd_y)
#Set ptu=None if not using tracking to ensure PTU is not moved after initial offset
if track_mode == 4:
ptu.ptu.close()
ptu = None
print('Not tracking, so disconnecting from the PTU for safe measure')
#Define Modes
track_mode = params.track_mode #default: 4 = no tracking
filter_mode = params.filter_mode #default: 1 raw SS and IMU data
ptu_offset_mode = params.ptu_offset_mode #default: 0 no PTU offset prior to tracking
#Show tracking display
show_display = params.display
print('show_display = ', show_display)
#Initiate PID control loop
#pan-axis (x-axis) PID gains
pid_x = PID(
step_size=params.ptu_step_size
) #'eighth' #pid_x will control azimuth ptu motor (assuming orientation of ss is correct)
pid_x.SetKp(params.kpx) #0.44
pid_x.SetKi(params.kix) #0.05*0
pid_x.SetKd(params.kdx) #0.3
#tilt-axis (y-axis) PID gains
pid_y = PID(
step_size=params.ptu_step_size
) #pid_y will control azimuth ptu motor (assuming orientation of ss is correct)
pid_y.SetKp(params.kpy) #-0.44
pid_y.SetKi(params.kiy) #0.01*0
pid_y.SetKd(params.kdy) #-0.3
print('Pan axis (x-axis) PID gains kpx=', params.kpx, 'kix=', params.kix,
'kdx=', params.kdx)
print('Tilt axis (t-axis) PID gains kpy=', params.kpy, 'kiy=', params.kiy,
'kdy=', params.kdy)
