def __init__(self,
data_container: Type[exoboot.Exo.DataContainer],
acc_threshold_x: float = 0.2,
time_out: float = 5,
max_acc_y: float = 0.1,
max_acc_z: float = 0.1,
do_filter_accels=True,
required_seconds_of_stillness=0,
return_did_slip=False,
start_active=False):
'''Last working with 0.5, 0.2, 0.2, no filter.'''
self.data_container = data_container
self.acc_threshold_x = acc_threshold_x
self.max_acc_y = max_acc_y
self.max_acc_z = max_acc_z
self.refractory_timer = util.DelayTimer(time_out, true_until=True)
self.do_filter_accels = do_filter_accels
self.return_did_slip = return_did_slip
self.accel_x_filter = filters.Butterworth(
N=2, Wn=0.01, btype='high')
self.accel_y_filter = filters.Butterworth(
N=2, Wn=0.01, btype='high')
self.accel_z_filter = filters.Butterworth(
N=2, Wn=0.01, btype='high')
self.slip_detect_active = start_active
print('slip_detect_active: ', self.slip_detect_active)
self.shuffling_timer = util.DelayTimer(
delay_time=required_seconds_of_stillness)
def __init__(self,
exo_1: Type[exoboot.Exo],
exo_2: Type[exoboot.Exo],
acc_threshold_x: float = 0.2, # 0.2
time_out: float = 5,
max_acc_y: float = 0.1, # 0.1
max_acc_z: float = 0.1, # 0.1
do_filter_accels=True,
required_seconds_of_stillness=0,
return_did_slip=False,
start_active=False):
self.exo_list = [exo_1, exo_2]
self.acc_threshold_x = acc_threshold_x
self.max_acc_y = max_acc_y
self.max_acc_z = max_acc_z
self.refractory_timer = util.DelayTimer(time_out, true_until=True)
self.do_filter_accels = do_filter_accels
self.return_did_slip = return_did_slip
self.filter_list = [[
filters.Butterworth(N=2, Wn=0.01, btype='high'),
filters.Butterworth(N=2, Wn=0.01, btype='high'),
filters.Butterworth(N=2, Wn=0.01, btype='high')],
[filters.Butterworth(N=2, Wn=0.01, btype='high'),
filters.Butterworth(N=2, Wn=0.01, btype='high'),
filters.Butterworth(N=2, Wn=0.01, btype='high')]]
self.slip_detect_active = start_active
print('slip_detect_active: ', self.slip_detect_active)
self.shuffling_timer = util.DelayTimer(
delay_time=required_seconds_of_stillness,
true_until=True)
self.print_counter = 0
def __init__(self, height: float, gyro_filter: Type[filters.Filter], delay=0):
self.height = height
self.gyro_filter = gyro_filter
self.gyro_history = deque([0, 0, 0], maxlen=3)
self.delay = delay
# self.timer_active = False
self.timer = util.DelayTimer(delay_time=self.delay)
def __init__(
self,
exo: Exo,
reel_in_mV: int = 1200,
slack_cutoff: float = 1500,
time_out: float = 0.3,
Kp: int = 30, # 50 150
Ki: int = 300, # 10 50
Kd: int = 0,
ff: int = 0):
'''This controller uses voltage control to get to zero slack, checking for a cutoff..
Arguments:
exo: exo.Exo instance
slack_cutoff: the amount of slack (in motor counts) for the controller to be completed
time_out: defines maximum amount of time to reel in
Returns:
Bool describing whether reel in operation has completed.
'''
self.exo = exo
super().update_controller_gains(Kp=Kp, Ki=Ki, Kd=Kd, ff=ff)
self.slack_cutoff = slack_cutoff
# set maximum time for controller
self.delay_timer = util.DelayTimer(delay_time=time_out)
self.reel_in_mV = reel_in_mV
def __init__(self,
exo: Type[Exo],
standing_controller: Type[controllers.Controller],
slip_controller: Type[controllers.Controller],
slip_recovery_time: float = 1.5):
self.exo = exo
self.standing_controller = standing_controller
self.slip_controller = slip_controller
self.slip_ctrl_timer = util.DelayTimer(delay_time=slip_recovery_time)
self.controller_now = self.standing_controller
def __init__(self,
exo: Exo,
desired_slack: float = 7000,
Kp: int = 100,
Ki: int = 10,
Kd: int = 0,
ff: int = 0):
'''This controller uses position control with low gains to reach the desired slack.'''
self.exo = exo
super().update_controller_gains(Kp=Kp, Ki=Ki, Kd=Kd, ff=ff)
self.desired_slack = desired_slack
# set maximum time for controller
self.delay_timer = util.DelayTimer(delay_time=0.2)
def __init__(self,
left_exo: Type[Exo],
right_exo: Type[Exo],
left_standing_controller: Type[controllers.Controller],
right_standing_controller: Type[controllers.Controller],
left_slip_controller: Type[controllers.Controller],
right_slip_controller: Type[controllers.Controller],
slip_recovery_time: float = 1.5):
self.left_exo = left_exo
self.right_exo = right_exo
self.left_standing_controller = left_standing_controller
self.right_standing_controller = left_standing_controller
self.left_slip_controller = left_slip_controller
self.right_slip_controller = right_slip_controller
self.slip_ctrl_timer = util.DelayTimer(delay_time=slip_recovery_time)
self.left_controller_now = self.left_standing_controller
self.right_controller_now = self.right_standing_controller