def setUp(self) -> None:
pi = pigpio.pi()
handler_bme = PigpioI2CHandler(pi, ADDRESS_BME280)
handler_bno = PigpioI2CHandler(pi, ADDRESS_BNO055)
self.bme280 = Bme280(handler_bme, name=NAME_BME280)
self.bno055 = Bno055(handler_bno, name=NAME_BNO055)
self.logque = LogQueue(LinkedDataModel)
def main():
kp = float(input('Enter Kp: '))
ex_time = float(input('Enter experiment time [sec]: '))
# device setting
pi = pigpio.pi()
handler_bno055 = PigpioI2CHandler(pi, setting.I2C_ADDRESS_BNO055)
handler_gps = PyserialSerialHandler(setting.SERIAL_PORT_GPS, baudrate=9600)
handler_motor_l_fin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_L_FIN,
setting.MOTOR_PWM_FREQ)
handler_motor_l_rin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_L_RIN,
setting.MOTOR_PWM_FREQ)
handler_motor_r_fin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_R_FIN,
setting.MOTOR_PWM_FREQ)
handler_motor_r_rin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_R_RIN,
setting.MOTOR_PWM_FREQ)
bno055 = Bno055(handler_bno055, name=setting.NAME_BNO055)
gps = SamM8Q(handler_gps, name=setting.NAME_GPS)
sencon = SensorController(RunningModel, bno055, gps)
motor_l = BD62xx(handler_motor_l_fin,
handler_motor_l_rin,
name=setting.NAME_MOTOR_L)
motor_r = BD62xx(handler_motor_r_fin,
handler_motor_r_rin,
name=setting.NAME_MOTOR_R)
# testing
data = sencon.read()
pidcontroller = PIDController(kp=kp)
first_time = time.time()
last_time = first_time
delta_time = 0.
while delta_time < ex_time:
current_time = time.time()
if (current_time - last_time) < setting.SAMPLE_TIME:
continue
last_time = current_time
offset = data.offset_angle2goal
if offset is None:
continue
duty = pidcontroller.calc_input(offset)
motor_r.ccw(duty)
motor_l.cw(setting.DUTY_BASE)
last_time = current_time
delta_time = first_time - current_time
time.sleep(setting.SAMPLE_TIME)
motor_r.brake()
motor_l.brake()
def setUp(self) -> None:
pi = pigpio.pi()
handler_bme = PigpioI2CHandler(pi, ADDRESS_BME280)
handler_bno = PigpioI2CHandler(pi, ADDRESS_BNO055)
self.bme280 = Bme280(handler_bme, name=NAME_BME280)
self.bno055 = Bno055(handler_bno, name=NAME_BNO055)
self.bno055.change_operation_mode(self.bno055.OperationMode.NDOF)
self.group = SensorGroup(LinkedDataModel,
self.bme280,
self.bno055,
name="group")
def setUp(self) -> None:
pi = pigpio.pi()
handler_bme = PigpioI2CHandler(pi, ADDRESS_BME280)
handler_bno = PigpioI2CHandler(pi, ADDRESS_BNO055)
self.bme280 = Bme280(handler_bme, name=NAME_BME280)
self.bno055 = Bno055(handler_bno, name=NAME_BNO055)
self.logque = LogQueue(LinkedDataModel)
self.dlogger = DataLogger(self.logque,
self.bme280,
self.bno055,
name=NAME_DLOGGER)
self.slogger = SystemLogger(name=NAME_SLOGGER)
self.slogger.setFileHandler()
self.manager = ComponentManager(self.dlogger,
self.slogger,
recursive=True)
context = Context(
{
TestNode0: {
True: TestNode1,
False: TestNode0
},
TestNode1: {
True: TestNode2,
False: TestNode1
},
TestNode2: {
True: None,
False: TestNode2
}
},
start=TestNode1)
self.cansat = CanSat(context,
self.manager,
dlogger=self.dlogger,
slogger=self.slogger)
def run_parent():
# device setting
pi = pigpio.pi()
handler_bno055 = PigpioI2CHandler(pi, I2C_ADDRESS_BNO055)
handler_bme280 = PigpioI2CHandler(pi, I2C_ADDRESS_BME280)
handler_gps = PyserialSerialHandler(SERIAL_PORT_GPS, baudrate=BAUDRATE_GPS)
handler_im920 = PyserialSerialHandler(SERIAL_PORT_IM920,
baudrate=BAUDRATE_IM920)
handler_motor_L_fin = PigpioPWMHandler(pi,
GPIO_MOTOR_L_FIN,
freq=MOTOR_PWM_FREQ)
handler_motor_L_rin = PigpioPWMHandler(pi,
GPIO_MOTOR_L_RIN,
freq=MOTOR_PWM_FREQ)
handler_motor_R_fin = PigpioPWMHandler(pi,
GPIO_MOTOR_R_FIN,
freq=MOTOR_PWM_FREQ)
handler_motor_R_rin = PigpioPWMHandler(pi,
GPIO_MOTOR_R_RIN,
freq=MOTOR_PWM_FREQ)
handler_mosfet_para = PigpioDigitalOutputHandler(pi,
GPIO_MOSFET_PARA,
name=NAME_MOSFET_PARA)
handler_mosfet_child = PigpioDigitalOutputHandler(pi,
GPIO_MOSFET_CHILD,
name=NAME_MOSFET_CHILD)
handler_sonic_trig = PigpioDigitalOutputHandler(pi, GPIO_SONIC_TRIG)
handler_sonic_echo = PigpioDigitalInputHandler(pi, GPIO_SONIC_ECHO)
handler_led = PigpioDigitalOutputHandler(pi, GPIO_LED, name=NAME_LED)
# actuator
motor_L = BD62xx(handler_motor_L_fin,
handler_motor_L_rin,
name=NAME_MOTOR_L)
motor_R = BD62xx(handler_motor_R_fin,
handler_motor_R_rin,
name=NAME_MOTOR_R)
wheels = TwoWheels(motor_L, motor_R, name=NAME_WHEELS)
# transceiver
im920 = Im920(handler_im920, name=NAME_IM920)
im920.clear_buf()
socket_transceiver = SocketTransceiver(im920,
certain=True,
name=NAME_SOCKET_TRANSCEIVER)
# sensor
bno055 = Bno055(handler_bno055, name=NAME_BNO055)
bno055.change_operation_mode(Bno055.OperationMode.NDOF)
bno055.remap_axis(Bno055.Axis.Y, Bno055.Axis.X, Bno055.Axis.Z)
bno055.remap_sign(y=Bno055.AxisSign.NEGATIVE)
bme280 = Bme280(handler_bme280, name=NAME_BME280)
gps = SamM8Q(handler_gps, name=NAME_GPS)
sonic = HcSr04(handler_sonic_echo,
handler_sonic_trig,
name=NAME_SUPERSONIC)
que = LogQueue(LoggingModel, maxlen=10000, name=NAME_LOGQUEUE)
dlogger = DataLogger(que,
bno055,
bme280,
gps,
sonic,
name=NAME_DATA_LOGGER)
slogger = SystemLogger(name=NAME_SYSTEM_LOGGER)
slogger.setFileHandler()
# register callable components in Nodes
manager = ComponentManager(motor_L,
motor_R,
wheels,
im920,
socket_transceiver,
handler_mosfet_para,
handler_mosfet_child,
handler_led,
dlogger,
slogger,
recursive=True,
name=NAME_MANAGER)
# context setting
context = Context(
{
MissionStandbyNode: {
True: FallingNode,
False: MissionStandbyNode
},
FallingNode: {
True: ParaSeparateNode,
False: FallingNode
},
ParaSeparateNode: {
True: FirstRunningNode,
False: ParaSeparateNode
},
FirstRunningNode: {
True: ChildSeparateNode,
False: FirstRunningNode
},
ChildSeparateNode: {
True: SencondRunningNode,
False: ChildSeparateNode
},
SencondRunningNode: {
True: GoalSearchNode,
False: SencondRunningNode
},
GoalSearchNode: {
True: GoalDetectNode,
False: GoalSearchNode
},
GoalDetectNode: {
True: None,
False: GoalDetectNode
}
},
start=MissionStandbyNode)
# build a cansat
cansat = CanSat(context, manager, dlogger=dlogger, slogger=slogger)
cansat.run()
def setUp(self) -> None:
pi = pigpio.pi()
handler = PigpioI2CHandler(pi, ADDRESS_BNO055)
self.bno055 = Bno055(handler, name="bno055")
self.bno055.change_operation_mode(Bno055.OperationMode.NDOF)
self.testor = SensorTestor(self.bno055)
def main():
# device setting
pi = pigpio.pi()
handler_bno055 = PigpioI2CHandler(pi, setting.I2C_ADDRESS_BNO055)
handler_bme280 = PigpioI2CHandler(pi, setting.I2C_ADDRESS_BME280)
handler_gps = PyserialSerialHandler(setting.SERIAL_PORT_GPS)
# handler_im920 = PyserialSerialHandler(setting.SERIAL_PORT_IM920)
handler_motor_L_fin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_L_FIN,
setting.MOTOR_PWM_FREQ)
handler_motor_L_rin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_L_RIN,
setting.MOTOR_PWM_FREQ)
handler_motor_R_fin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_R_FIN,
setting.MOTOR_PWM_FREQ)
handler_motor_R_rin = PigpioPWMHandler(pi, setting.GPIO_MOTOR_R_RIN,
setting.MOTOR_PWM_FREQ)
handler_mosfet_para = PigpioDigitalOutputHandler(
pi, setting.GPIO_MOSFET_PARA, name=setting.NAME_MOSFET_PARA)
handler_mosfet_child = PigpioDigitalOutputHandler(
pi, setting.GPIO_MOSFET_CHILD, name=setting.NAME_MOSFET_CHILD)
handler_sonic_trig = PigpioDigitalOutputHandler(pi,
setting.GPIO_SONIC_TRIG)
handler_sonic_echo = PigpioDigitalInputHandler(pi, setting.GPIO_SONIC_ECHO)
handler_led = PigpioDigitalOutputHandler(pi,
setting.GPIO_LED,
name=setting.NAME_LED)
# actuator
motor_L = BD62xx(handler_motor_L_fin,
handler_motor_L_rin,
name=setting.NAME_MOTOR_L)
motor_R = BD62xx(handler_motor_R_fin,
handler_motor_R_rin,
name=setting.NAME_MOTOR_R)
wheels = TwoWheels(motor_L, motor_R, name=setting.NAME_WHEELS)
# transceiver
# im920 = Im920(handler_im920, name=setting.NAME_IM920)
# sensor
bno055 = Bno055(handler_bno055, name=setting.NAME_BNO055)
bno055.change_operation_mode(Bno055.OperationMode.NDOF)
bme280 = Bme280(handler_bme280, name=setting.NAME_BME280)
gps = SamM8Q(handler_gps, name=setting.NAME_GPS)
sonic = HcSr04(handler_sonic_echo,
handler_sonic_trig,
name=setting.NAME_SUPERSONIC)
con = SensorController(LoggingModel,
bno055,
bme280,
gps,
sonic,
name=setting.NAME_SENSOR_CONTROLLER)
que = LogQueue(LoggingModel, maxlen=1000, name=setting.NAME_LOGQUEUE)
dlogger = DataLogger(con, que, name=setting.NAME_DATA_LOGGER)
slogger = SystemLogger(name=setting.NAME_SYSTEM_LOGGER)
slogger.setFileHandler()
# register callable components in Nodes
manager = ComponentManager(motor_L,
motor_R,
wheels,
handler_mosfet_para,
handler_mosfet_child,
handler_led,
dlogger,
slogger,
recursive=True,
name=setting.NAME_MANAGER)
# context setting
context = Context(
{
FallingNode: {
True: ParaSeparateNode,
False: FallingNode
},
ParaSeparateNode: {
True: None,
False: ParaSeparateNode
},
},
start=FallingNode)
# build a cansat
cansat = CanSat(context, manager, dlogger=dlogger, slogger=slogger)
cansat.run()