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 __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)
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
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
import beaglebone_pru_adc as adc
import time
import config
from robot.motor import Motors
if __name__ == '__main__':
adc = adc.Capture()
adc.encoder0_pin = config.MOTOR_LEFT['encoder_pin']
adc.encoder1_pin = config.MOTOR_RIGHT['encoder_pin']
adc.encoder0_threshold = 4096
adc.encoder1_threshold = 4096
motors = Motors(config)
adc.start()
motors.run(60, 60)
time.sleep(2.0)
motors.run(0, 0)
adc.stop()
adc.wait()
_, min0, max0, _, _ = adc.encoder0_values
_, min1, max1, _, _ = adc.encoder1_values
adc.close()
print 'Left encoder measured range:', min0, max0, 'Recommended threshold:', int(0.9 * (max0-min0))
print 'Right encoder measured range:', min1, max1, 'Recommended threshold:', int(0.9 * (max1-min1))
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)
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)
import beaglebone_pru_adc as adc
import time
import config
from robot.motor import Motors
if __name__ == '__main__':
adc = adc.Capture()
adc.encoder0_pin = config.MOTOR_LEFT['encoder_pin']
adc.encoder1_pin = config.MOTOR_RIGHT['encoder_pin']
adc.encoder0_threshold = 4096
adc.encoder1_threshold = 4096
motors = Motors(config)
adc.start()
motors.run(60, 60)
time.sleep(2.0)
motors.run(0, 0)
adc.stop()
adc.wait()
_, min0, max0, _, _ = adc.encoder0_values
_, min1, max1, _, _ = adc.encoder1_values
adc.close()
print 'Left encoder measured range:', min0, max0, 'Recommended threshold:', int(
0.9 * (max0 - min0))