diff options
Diffstat (limited to 'System_Python')
| -rw-r--r-- | System_Python/system.py | 253 | ||||
| -rw-r--r-- | System_Python/system_BACKUP_2371.py | 241 | ||||
| -rw-r--r-- | System_Python/system_BASE_2371.py | 102 | ||||
| -rw-r--r-- | System_Python/system_LOCAL_2371.py | 100 | ||||
| -rw-r--r-- | System_Python/system_REMOTE_2371.py | 230 | ||||
| -rw-r--r-- | System_Python/test_Motor.py | 10 |
6 files changed, 802 insertions, 134 deletions
diff --git a/System_Python/system.py b/System_Python/system.py index faffb73..de9a8d1 100644 --- a/System_Python/system.py +++ b/System_Python/system.py @@ -33,64 +33,64 @@ class System: self.encoder_angular.set_zero()
# Initialize the linear encoder.
self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
- # We assume that the system has been initialized on startup to a 0 position, or that the previous run ended by returning the system to 0
+ # We assume that the system has been initialized on startup to a 0 position, or that the previous run ended by returning the system to 0
self.encoder_linear.set_zero()
-
- # Enable hardware interrupts for hardware limit switches
- GPIO.setup(limit_negative_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
- GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
- GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
- GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
-
- # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).
- # By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
- self.negative_soft_limit = negative_limit
- self.positive_soft_limit = positive_limit
- # If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
- if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit
- print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")
- self.negative_soft_limit = float('nan')
- self.positive_soft_limit = float('nan')
- # NOTE: If only one limit has been defined, this should always work (hardware limits will be the absolute edge on the undefined side, although this would be difficult for users to utilize unless we provide the position of the hardware limits on each side
- # NOTE: If neither limit is defined, the hardware limits will be the only limits in effect.
-
- # Create and setup results file (to be sent back to the server and displayed/downloaded to the user)
- # Results file is a CSV with the following entries: angle, position, speed
- self.result_filename = "~/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
- result_file = open(self.result_filename, "w+")
- result_file.write("angle(degrees),position(inches),speed(percentage)\n")
- result_file.close()
+
+ # Enable hardware interrupts for hardware limit switches
+ GPIO.setup(limit_negative_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
+ GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+
+ # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).
+ # By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
+ self.negative_soft_limit = negative_limit
+ self.positive_soft_limit = positive_limit
+ # If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
+ if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit
+ print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")
+ self.negative_soft_limit = float('nan')
+ self.positive_soft_limit = float('nan')
+ # NOTE: If only one limit has been defined, this should always work (hardware limits will be the absolute edge on the undefined side, although this would be difficult for users to utilize unless we provide the position of the hardware limits on each side
+ # NOTE: If neither limit is defined, the hardware limits will be the only limits in effect.
+
+ # Create and setup results file (to be sent back to the server and displayed/downloaded to the user)
+ # Results file is a CSV with the following entries: angle, position, speed
+ self.result_filename = "~/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+ result_file = open(self.result_filename, "w+")
+ result_file.write("angle(degrees),position(inches),speed(percentage)\n")
+ result_file.close()
# END __init__()
-
- def initialize(self):
- # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered
- GPIO.remove_event_detect(limit_negative_pin)
- GPIO.remove_event_detect(limit_positive_pin)
- # Begin moving slowly in the negative direction until the negative limit switch is triggered
- if not GPIO.input(limit_negative_pin) == False:
- self.motor.move(-1)
- GPIO.wait_for_edge(limit_negative_pin, GPIO.FALLING)
- self.motor.brake()
- # Set zero at the negative end of the track for easy reference in determining the extent
- self.encoder_linear.set_zero()
- # Begin moving slowly in the positive direction until the positive limit switch is triggered
- self.motor.move(1)
- GPIO.wait_for_edge(limit_positive_pin, GPIO.FALLING)
- self.motor.brake()
- # Get the current position (the extent of the track)
- extent = self.encoder_linear.read_position()
- # Move back towards the center until we reach position extent/2
- position = extent
- self.motor.move(-1)
- while not position == extent / 2:
- position = self.encoder_linear.read_position()
- self.motor.brake()
- # Set zero again: this is the real zero
- self.encoder_linear.set_zero()
- # Re-enable the limit switch interrupts
- GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
- GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
- # END initialize
+
+ def initialize(self):
+ # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered
+ GPIO.remove_event_detect(limit_negative_pin)
+ GPIO.remove_event_detect(limit_positive_pin)
+ # Begin moving slowly in the negative direction until the negative limit switch is triggered
+ if not GPIO.input(limit_negative_pin) == False:
+ self.motor.move(-1)
+ GPIO.wait_for_edge(limit_negative_pin, GPIO.FALLING)
+ self.motor.brake()
+ # Set zero at the negative end of the track for easy reference in determining the extent
+ self.encoder_linear.set_zero()
+ # Begin moving slowly in the positive direction until the positive limit switch is triggered
+ self.motor.move(1)
+ GPIO.wait_for_edge(limit_positive_pin, GPIO.FALLING)
+ self.motor.brake()
+ # Get the current position (the extent of the track)
+ extent = self.encoder_linear.read_position()
+ # Move back towards the center until we reach position extent/2
+ position = extent
+ self.motor.move(-1)
+ while not position == extent / 2:
+ position = self.encoder_linear.read_position()
+ self.motor.brake()
+ # Set zero again: this is the real zero
+ self.encoder_linear.set_zero()
+ # Re-enable the limit switch interrupts
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+ # END initialize
# Get the values of the encoders to determine the angular and linear position of the pendulum.
# Values are returned as a tuple: (angle, linear).
@@ -105,23 +105,22 @@ class System: angular_position = self.encoder_angular.read_position('Degrees')
if angular_position > 180:
angular_position = angular_position - 360
- #linear_position = self.encoder_linear.read_position()
- linear_position = 0
- # Check soft limits
- if not math.isnan(self.negative_soft_limit) and linear_position < self.negative_soft_limit:
- # Print negative soft limit violation to the results file.
- result_file = open(self.result_filename, "a")
- result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)
- result_file.close()
- # Fire the limit trigger method (stops motor, kills program immediately).
- self.limit_triggered()
- if not math.isnan(self.positive_soft_limit) and linear_position > self.positive_soft_limit:
- # Print positive soft limit violation to the results file.
- result_file = open(self.result_filename, "a")
- result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)
- result_file.close()
- # Fire the limit trigger method (stops motor, kills program immediately).
- self.limit_triggered()
+ linear_position = self.encoder_linear.read_position()
+ # Check soft limits
+ if not math.isnan(self.negative_soft_limit) and linear_position < self.negative_soft_limit:
+ # Print negative soft limit violation to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ if not math.isnan(self.positive_soft_limit) and linear_position > self.positive_soft_limit:
+ # Print positive soft limit violation to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
return (angular_position, linear_position)
# END measure()
@@ -140,65 +139,62 @@ class System: self.motor.coast()
self.motor.move(speed)
# END adjust()
-
- # Append data to the results file
- def add_results(self, angle, position, speed):
- # open the results file
- result_file = open(self.result_filename, "a")
- # Write the results
- result_file.write("%d," % angle) # Write angle
- result_file.write("%d," % position) # Write position
- result_file.write("%d\n" % speed) # Write speed (end of line)
- # Close the results file
- result_file.close()
- # END add_results
-
- # Go back to the zero position (linear) so that the next execution starts in the correct place.
- def return_home(self):
- position = self.encoder_linear.read_position()
- # slowly move towards 0 until we get there
- if position > 0:
- self.motor.move(-1)
- elif position < 0:
- self.motor.move(1)
- while not position == 0:
- position = self.encoder_linear.read_position()
- self.motor.brake()
- # END return_home
-
- # Callback for when negative limit switch is triggered.
- def negative_limit_callback(self, channel):
- # Print negative limit trigger to the results file.
- result_file = open(self.result_filename, "a")
- result_file.write("Negative hardware limit has been reached!")
- result_file.close()
- # Fire the limit trigger method (stops motor, kills program immediately).
- self.limit_triggered()
- # END negative_limit_callback
- # Callback for when positive limit switch is triggered.
- def positive_limit_callback(self, channel):
- # Print positive limit trigger to the results file.
- result_file = open(self.result_filename, "a")
- result_file.write("Positive hardware limit has been reached!")
- result_file.close()
- # Fire the limit trigger method (stops motor, kills program immediately).
- self.limit_triggered()
- # END positive_limit_callback
- def limit_triggered(self):
- self.motor.brake()
- sleep(2)
- self.return_home()
- sys.exit(1)
+
+ # Append data to the results file
+ def add_results(self, angle, position, speed):
+ # open the results file
+ result_file = open(self.result_filename, "a")
+ # Write the results
+ result_file.write("%d," % angle) # Write angle
+ result_file.write("%d," % position) # Write position
+ result_file.write("%d\n" % speed) # Write speed (end of line)
+ # Close the results file
+ result_file.close()
+ # END add_results
+
+ # Go back to the zero position (linear) so that the next execution starts in the correct place.
+ def return_home(self):
+ position = self.encoder_linear.read_position()
+ # slowly move towards 0 until we get there
+ if position > 0:
+ self.motor.move(-1)
+ elif position < 0:
+ self.motor.move(1)
+ while not position == 0:
+ position = self.encoder_linear.read_position()
+ self.motor.brake()
+ # END return_home
+
+ # Callback for when negative limit switch is triggered.
+ def negative_limit_callback(self, channel):
+ # Print negative limit trigger to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Negative hardware limit has been reached!")
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ # END negative_limit_callback
+ # Callback for when positive limit switch is triggered.
+ def positive_limit_callback(self, channel):
+ # Print positive limit trigger to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Positive hardware limit has been reached!")
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ # END positive_limit_callback
+ def limit_triggered(self):
+ self.motor.brake()
+ sleep(2)
+ self.return_home()
+ sys.exit(1)
# END System
# Linear Encoder class
# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
# The function definitions here are the same as with the regular encoder (pseudo-interface).
class Linear_Encoder:
- # MEASURE THIS on the assembled physical system.
- # Measure the distance moved by the cart for exactly 1 rotation of the encoder. Try to be as exact as possible (but shouldn't be a big deal if we are off a little).
- # Determine the units we want to measure and report (probably inches?)
- DISTANCE_PER_ROTATION = 4.0 # MEASURE THIS!!!!!!
+ PROPORTION = 14.5
def __init__(self, clk_pin, cs_pin, data_pin):
self.encoder = Encoder(clk_pin, cs_pin, data_pin)
@@ -223,8 +219,7 @@ class Linear_Encoder: # We are moving to the left (negative) and have completed a new rotation
self.rotations = self.rotations - 1
# Save the last position for the next calculation
- self.last_position = position
-
+ self.last_position = position
# compute the position based on the system parameters
# linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
- return (DISTANCE_PER_ROTATION)*(self.rotations + position/1024)
+ return (PROPORTION)*(self.rotations + position/1024)
diff --git a/System_Python/system_BACKUP_2371.py b/System_Python/system_BACKUP_2371.py new file mode 100644 index 0000000..1820016 --- /dev/null +++ b/System_Python/system_BACKUP_2371.py @@ -0,0 +1,241 @@ +#!/usr/bin/env python
+from motor import Motor
+from encoder import Encoder
+import math
+from datetime import datetime
+from time import sleep
+import RPi.GPIO as GPIO
+
+# IO pin definitions
+### Motor pins
+motor_speed_pin = 17
+motor_forward_pin = 27
+motor_reverse_pin = 22
+### Encoder pins (shared by both encoders)
+encoder_clock_pin = 2
+encoder_data_pin = 3
+### Angular encoder pins
+encoder_angular_cs_pin = 4
+### Linear encoder pins
+encoder_linear_cs_pin = 5
+### Limit switch pins (configured to PULLUP)
+limit_negative_pin = 19
+limit_positive_pin = 26
+
+# System Class
+# This is the primary interface a student will use to control the pendulum.
+class System:
+ def __init__(self, negative_limit=float('nan'), positive_limit=float('nan')):
+ # Initialize the motor.
+ self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
+ # Initialize the angular encoder.
+ self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
+ self.encoder_angular.set_zero()
+ # Initialize the linear encoder.
+ self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
+ # We assume that the system has been initialized on startup to a 0 position, or that the previous run ended by returning the system to 0
+ self.encoder_linear.set_zero()
+
+ # Enable hardware interrupts for hardware limit switches
+ GPIO.setup(limit_negative_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
+ GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+
+ # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).
+ # By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
+ self.negative_soft_limit = negative_limit
+ self.positive_soft_limit = positive_limit
+ # If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
+ if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit
+ print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")
+ self.negative_soft_limit = float('nan')
+ self.positive_soft_limit = float('nan')
+ # NOTE: If only one limit has been defined, this should always work (hardware limits will be the absolute edge on the undefined side, although this would be difficult for users to utilize unless we provide the position of the hardware limits on each side
+ # NOTE: If neither limit is defined, the hardware limits will be the only limits in effect.
+
+ # Create and setup results file (to be sent back to the server and displayed/downloaded to the user)
+ # Results file is a CSV with the following entries: angle, position, speed
+ self.result_filename = "~/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+ result_file = open(self.result_filename, "w+")
+ result_file.write("angle(degrees),position(inches),speed(percentage)\n")
+ result_file.close()
+ # END __init__()
+
+ def initialize(self):
+ # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered
+ GPIO.remove_event_detect(limit_negative_pin)
+ GPIO.remove_event_detect(limit_positive_pin)
+ # Begin moving slowly in the negative direction until the negative limit switch is triggered
+ if not GPIO.input(limit_negative_pin) == False:
+ self.motor.move(-1)
+ GPIO.wait_for_edge(limit_negative_pin, GPIO.FALLING)
+ self.motor.brake()
+ # Set zero at the negative end of the track for easy reference in determining the extent
+ self.encoder_linear.set_zero()
+ # Begin moving slowly in the positive direction until the positive limit switch is triggered
+ self.motor.move(1)
+ GPIO.wait_for_edge(limit_positive_pin, GPIO.FALLING)
+ self.motor.brake()
+ # Get the current position (the extent of the track)
+ extent = self.encoder_linear.read_position()
+ # Move back towards the center until we reach position extent/2
+ position = extent
+ self.motor.move(-1)
+ while not position == extent / 2:
+ position = self.encoder_linear.read_position()
+ self.motor.brake()
+ # Set zero again: this is the real zero
+ self.encoder_linear.set_zero()
+ # Re-enable the limit switch interrupts
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+ # END initialize
+
+ # Get the values of the encoders to determine the angular and linear position of the pendulum.
+ # Values are returned as a tuple: (angle, linear).
+ ### angle: 0 indicates the pendulum is exactly straight up.
+ ##### 180 or -180 indicate the pendulum is exactly straight down.
+ ##### Positive values indicate the pendulum is leaning to the right.
+ ##### Negative values indicate the pendulum is leaning to the left.
+ ### linear: 0 indicates the pendulum is exactly in the middle of the track.
+ ##### Positive values indicate the pendulum is right-of-center.
+ ##### Negative values indicate the pendulum is left-of-center.
+ def measure(self):
+ angular_position = self.encoder_angular.read_position('Degrees')
+ if angular_position > 180:
+ angular_position = angular_position - 360
+<<<<<<< HEAD
+ linear_position = self.encoder_linear.read_position()
+=======
+ #linear_position = self.encoder_linear.read_position()
+ linear_position = 0
+ # Check soft limits
+ if not math.isnan(self.negative_soft_limit) and linear_position < self.negative_soft_limit:
+ # Print negative soft limit violation to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ if not math.isnan(self.positive_soft_limit) and linear_position > self.positive_soft_limit:
+ # Print positive soft limit violation to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+>>>>>>> 7b933645f701596470fde82ebea16d897306f89f
+ return (angular_position, linear_position)
+ # END measure()
+
+ # Adjust the pendulum's linear position using the motor.
+ ### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
+ ##### Negative values will move the pendulum to the left.
+ ##### Positive values will move the pendulum to the right.
+ def adjust(self, speed):
+ # cap the speed inputs
+ if speed > 100.0:
+ speed = 100.0
+ if speed < -100.0:
+ speed = -100.0
+ # change the motor speed
+ # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
+ self.motor.coast()
+ self.motor.move(speed)
+ # END adjust()
+
+ # Append data to the results file
+ def add_results(self, angle, position, speed):
+ # open the results file
+ result_file = open(self.result_filename, "a")
+ # Write the results
+ result_file.write("%d," % angle) # Write angle
+ result_file.write("%d," % position) # Write position
+ result_file.write("%d\n" % speed) # Write speed (end of line)
+ # Close the results file
+ result_file.close()
+ # END add_results
+
+ # Go back to the zero position (linear) so that the next execution starts in the correct place.
+ def return_home(self):
+ position = self.encoder_linear.read_position()
+ # slowly move towards 0 until we get there
+ if position > 0:
+ self.motor.move(-1)
+ elif position < 0:
+ self.motor.move(1)
+ while not position == 0:
+ position = self.encoder_linear.read_position()
+ self.motor.brake()
+ # END return_home
+
+ # Callback for when negative limit switch is triggered.
+ def negative_limit_callback(self, channel):
+ # Print negative limit trigger to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Negative hardware limit has been reached!")
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ # END negative_limit_callback
+ # Callback for when positive limit switch is triggered.
+ def positive_limit_callback(self, channel):
+ # Print positive limit trigger to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Positive hardware limit has been reached!")
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ # END positive_limit_callback
+ def limit_triggered(self):
+ self.motor.brake()
+ sleep(2)
+ self.return_home()
+ sys.exit(1)
+# END System
+
+# Linear Encoder class
+# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
+# The function definitions here are the same as with the regular encoder (pseudo-interface).
+class Linear_Encoder:
+<<<<<<< HEAD
+ PROPORTION = 14.5
+=======
+ # MEASURE THIS on the assembled physical system.
+ # Measure the distance moved by the cart for exactly 1 rotation of the encoder. Try to be as exact as possible (but shouldn't be a big deal if we are off a little).
+ # Determine the units we want to measure and report (probably inches?)
+ DISTANCE_PER_ROTATION = 4.0 # MEASURE THIS!!!!!!
+>>>>>>> 7b933645f701596470fde82ebea16d897306f89f
+
+ def __init__(self, clk_pin, cs_pin, data_pin):
+ self.encoder = Encoder(clk_pin, cs_pin, data_pin)
+ self.set_zero()
+ def set_zero(self):
+ # Set the zero position for the encoder
+ self.encoder.set_zero()
+ # Reset the internal position counter
+ self.rotations = 0
+ self.last_position = 0
+ def read_position(self):
+ # Read the position of the encoder
+ position = self.encoder.read_position('Raw')
+ # Compare to last known position
+ # NOTE: For now, assume that we are moving the smallest possible distance (i.e. 5 -> 1 is -4, not 1020)
+ if position - self.last_position > 0:
+ if position < 512 and self.last_position > 512:
+ # We are moving to the right (positive) and have completed a new rotation
+ self.rotations = self.rotations + 1
+ else:
+ if position > 512 and self.last_position < 512:
+ # We are moving to the left (negative) and have completed a new rotation
+ self.rotations = self.rotations - 1
+ # Save the last position for the next calculation
+ self.last_position = position
+ # compute the position based on the system parameters
+ # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
+<<<<<<< HEAD
+ return (PROPORTION)*(self.rotations + position/1024)
+=======
+ return (DISTANCE_PER_ROTATION)*(self.rotations + position/1024)
+>>>>>>> 7b933645f701596470fde82ebea16d897306f89f
diff --git a/System_Python/system_BASE_2371.py b/System_Python/system_BASE_2371.py new file mode 100644 index 0000000..1e532fa --- /dev/null +++ b/System_Python/system_BASE_2371.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python
+from motor import Motor
+from encoder import Encoder
+import math
+
+# IO pin definitions
+### Motor pins
+motor_speed_pin = 17
+motor_forward_pin = 27
+motor_reverse_pin = 22
+### Encoder pins (shared by both encoders)
+encoder_clock_pin = 2
+encoder_data_pin = 3
+### Angular encoder pins
+encoder_angular_cs_pin = 4
+### Linear encoder pins
+encoder_linear_cs_pin = 5
+
+
+# System Class
+# This is the primary interface a student will use to control the pendulum.
+class System:
+ def __init__(self):
+ # Initialize the motor.
+ self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
+ # Initialize the angular encoder.
+ self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
+ self.encoder_angular.set_zero()
+ # Initialize the linear encoder.
+ self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
+ self.encoder_linear.set_zero()
+ # END __init__()
+
+ # Get the values of the encoders to determine the angular and linear position of the pendulum.
+ # Values are returned as a tuple: (angle, linear).
+ ### angle: 0 indicates the pendulum is exactly straight up.
+ ##### 180 or -180 indicate the pendulum is exactly straight down.
+ ##### Positive values indicate the pendulum is leaning to the right.
+ ##### Negative values indicate the pendulum is leaning to the left.
+ ### linear: 0 indicates the pendulum is exactly in the middle of the track.
+ ##### Positive values indicate the pendulum is right-of-center.
+ ##### Negative values indicate the pendulum is left-of-center.
+ def measure(self):
+ angular_position = self.encoder_angular.read_position('Degrees')
+ if angular_position > 180:
+ angular_position = angular_position - 360
+ #linear_position = self.encoder_linear.read_position()
+ linear_position = 0
+ return (angular_position, linear_position)
+ # END measure()
+
+ # Adjust the pendulum's linear position using the motor.
+ ### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
+ ##### Negative values will move the pendulum to the left.
+ ##### Positive values will move the pendulum to the right.
+ def adjust(self, speed):
+ # cap the speed inputs
+ if speed > 100.0:
+ speed = 100.0
+ if speed < -100.0:
+ speed = -100.0
+ # change the motor speed
+ # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
+ self.motor.coast()
+ self.motor.move(speed)
+ # END adjust()
+# END System
+
+# Linear Encoder class
+# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
+# The function definitions here are the same as with the regular encoder (pseudo-interface).
+class Linear_Encoder:
+ DIAMETER = 4.0 # MEASURE THIS
+
+ def __init__(self, clk_pin, cs_pin, data_pin):
+ self.encoder = Encoder(clk_pin, cs_pin, data_pin)
+ self.set_zero()
+ def set_zero(self):
+ # Set the zero position for the encoder
+ self.encoder.set_zero()
+ # Reset the internal position counter
+ self.rotations = 0
+ self.last_position = 0
+ def read_position(self):
+ # Read the position of the encoder
+ position = self.encoder.read_position('Raw')
+ # Compare to last known position
+ # NOTE: For now, assume that we are moving the smallest possible distance (i.e. 5 -> 1 is -4, not 1020)
+ if position - self.last_position > 0:
+ if position < 512 and self.last_position > 512:
+ # We are moving to the right (positive) and have completed a new rotation
+ self.rotations = self.rotations + 1
+ else:
+ if position > 512 and self.last_position < 512:
+ # We are moving to the left (negative) and have completed a new rotation
+ self.rotations = self.rotations - 1
+ # Save the last position for the next calculation
+ self.last_position = position
+
+ # compute the position based on the system parameters
+ # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
+ return (math.pi*DIAMETER)*(self.rotations + position/1024)
diff --git a/System_Python/system_LOCAL_2371.py b/System_Python/system_LOCAL_2371.py new file mode 100644 index 0000000..ff38628 --- /dev/null +++ b/System_Python/system_LOCAL_2371.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python
+from motor import Motor
+from encoder import Encoder
+import math
+
+# IO pin definitions
+### Motor pins
+motor_speed_pin = 17
+motor_forward_pin = 27
+motor_reverse_pin = 22
+### Encoder pins (shared by both encoders)
+encoder_clock_pin = 2
+encoder_data_pin = 3
+### Angular encoder pins
+encoder_angular_cs_pin = 4
+### Linear encoder pins
+encoder_linear_cs_pin = 5
+
+
+# System Class
+# This is the primary interface a student will use to control the pendulum.
+class System:
+ def __init__(self):
+ # Initialize the motor.
+ self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
+ # Initialize the angular encoder.
+ self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
+ self.encoder_angular.set_zero()
+ # Initialize the linear encoder.
+ self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
+ self.encoder_linear.set_zero()
+ # END __init__()
+
+ # Get the values of the encoders to determine the angular and linear position of the pendulum.
+ # Values are returned as a tuple: (angle, linear).
+ ### angle: 0 indicates the pendulum is exactly straight up.
+ ##### 180 or -180 indicate the pendulum is exactly straight down.
+ ##### Positive values indicate the pendulum is leaning to the right.
+ ##### Negative values indicate the pendulum is leaning to the left.
+ ### linear: 0 indicates the pendulum is exactly in the middle of the track.
+ ##### Positive values indicate the pendulum is right-of-center.
+ ##### Negative values indicate the pendulum is left-of-center.
+ def measure(self):
+ angular_position = self.encoder_angular.read_position('Degrees')
+ if angular_position > 180:
+ angular_position = angular_position - 360
+ linear_position = self.encoder_linear.read_position()
+ return (angular_position, linear_position)
+ # END measure()
+
+ # Adjust the pendulum's linear position using the motor.
+ ### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
+ ##### Negative values will move the pendulum to the left.
+ ##### Positive values will move the pendulum to the right.
+ def adjust(self, speed):
+ # cap the speed inputs
+ if speed > 100.0:
+ speed = 100.0
+ if speed < -100.0:
+ speed = -100.0
+ # change the motor speed
+ # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
+ self.motor.coast()
+ self.motor.move(speed)
+ # END adjust()
+# END System
+
+# Linear Encoder class
+# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
+# The function definitions here are the same as with the regular encoder (pseudo-interface).
+class Linear_Encoder:
+ PROPORTION = 14.5
+
+ def __init__(self, clk_pin, cs_pin, data_pin):
+ self.encoder = Encoder(clk_pin, cs_pin, data_pin)
+ self.set_zero()
+ def set_zero(self):
+ # Set the zero position for the encoder
+ self.encoder.set_zero()
+ # Reset the internal position counter
+ self.rotations = 0
+ self.last_position = 0
+ def read_position(self):
+ # Read the position of the encoder
+ position = self.encoder.read_position('Raw')
+ # Compare to last known position
+ # NOTE: For now, assume that we are moving the smallest possible distance (i.e. 5 -> 1 is -4, not 1020)
+ if position - self.last_position > 0:
+ if position < 512 and self.last_position > 512:
+ # We are moving to the right (positive) and have completed a new rotation
+ self.rotations = self.rotations + 1
+ else:
+ if position > 512 and self.last_position < 512:
+ # We are moving to the left (negative) and have completed a new rotation
+ self.rotations = self.rotations - 1
+ # Save the last position for the next calculation
+ self.last_position = position
+ # compute the position based on the system parameters
+ # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
+ return (PROPORTION)*(self.rotations + position/1024)
diff --git a/System_Python/system_REMOTE_2371.py b/System_Python/system_REMOTE_2371.py new file mode 100644 index 0000000..faffb73 --- /dev/null +++ b/System_Python/system_REMOTE_2371.py @@ -0,0 +1,230 @@ +#!/usr/bin/env python
+from motor import Motor
+from encoder import Encoder
+import math
+from datetime import datetime
+from time import sleep
+import RPi.GPIO as GPIO
+
+# IO pin definitions
+### Motor pins
+motor_speed_pin = 17
+motor_forward_pin = 27
+motor_reverse_pin = 22
+### Encoder pins (shared by both encoders)
+encoder_clock_pin = 2
+encoder_data_pin = 3
+### Angular encoder pins
+encoder_angular_cs_pin = 4
+### Linear encoder pins
+encoder_linear_cs_pin = 5
+### Limit switch pins (configured to PULLUP)
+limit_negative_pin = 19
+limit_positive_pin = 26
+
+# System Class
+# This is the primary interface a student will use to control the pendulum.
+class System:
+ def __init__(self, negative_limit=float('nan'), positive_limit=float('nan')):
+ # Initialize the motor.
+ self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
+ # Initialize the angular encoder.
+ self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
+ self.encoder_angular.set_zero()
+ # Initialize the linear encoder.
+ self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
+ # We assume that the system has been initialized on startup to a 0 position, or that the previous run ended by returning the system to 0
+ self.encoder_linear.set_zero()
+
+ # Enable hardware interrupts for hardware limit switches
+ GPIO.setup(limit_negative_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
+ GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+
+ # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).
+ # By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
+ self.negative_soft_limit = negative_limit
+ self.positive_soft_limit = positive_limit
+ # If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
+ if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit
+ print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")
+ self.negative_soft_limit = float('nan')
+ self.positive_soft_limit = float('nan')
+ # NOTE: If only one limit has been defined, this should always work (hardware limits will be the absolute edge on the undefined side, although this would be difficult for users to utilize unless we provide the position of the hardware limits on each side
+ # NOTE: If neither limit is defined, the hardware limits will be the only limits in effect.
+
+ # Create and setup results file (to be sent back to the server and displayed/downloaded to the user)
+ # Results file is a CSV with the following entries: angle, position, speed
+ self.result_filename = "~/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+ result_file = open(self.result_filename, "w+")
+ result_file.write("angle(degrees),position(inches),speed(percentage)\n")
+ result_file.close()
+ # END __init__()
+
+ def initialize(self):
+ # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered
+ GPIO.remove_event_detect(limit_negative_pin)
+ GPIO.remove_event_detect(limit_positive_pin)
+ # Begin moving slowly in the negative direction until the negative limit switch is triggered
+ if not GPIO.input(limit_negative_pin) == False:
+ self.motor.move(-1)
+ GPIO.wait_for_edge(limit_negative_pin, GPIO.FALLING)
+ self.motor.brake()
+ # Set zero at the negative end of the track for easy reference in determining the extent
+ self.encoder_linear.set_zero()
+ # Begin moving slowly in the positive direction until the positive limit switch is triggered
+ self.motor.move(1)
+ GPIO.wait_for_edge(limit_positive_pin, GPIO.FALLING)
+ self.motor.brake()
+ # Get the current position (the extent of the track)
+ extent = self.encoder_linear.read_position()
+ # Move back towards the center until we reach position extent/2
+ position = extent
+ self.motor.move(-1)
+ while not position == extent / 2:
+ position = self.encoder_linear.read_position()
+ self.motor.brake()
+ # Set zero again: this is the real zero
+ self.encoder_linear.set_zero()
+ # Re-enable the limit switch interrupts
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+ # END initialize
+
+ # Get the values of the encoders to determine the angular and linear position of the pendulum.
+ # Values are returned as a tuple: (angle, linear).
+ ### angle: 0 indicates the pendulum is exactly straight up.
+ ##### 180 or -180 indicate the pendulum is exactly straight down.
+ ##### Positive values indicate the pendulum is leaning to the right.
+ ##### Negative values indicate the pendulum is leaning to the left.
+ ### linear: 0 indicates the pendulum is exactly in the middle of the track.
+ ##### Positive values indicate the pendulum is right-of-center.
+ ##### Negative values indicate the pendulum is left-of-center.
+ def measure(self):
+ angular_position = self.encoder_angular.read_position('Degrees')
+ if angular_position > 180:
+ angular_position = angular_position - 360
+ #linear_position = self.encoder_linear.read_position()
+ linear_position = 0
+ # Check soft limits
+ if not math.isnan(self.negative_soft_limit) and linear_position < self.negative_soft_limit:
+ # Print negative soft limit violation to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ if not math.isnan(self.positive_soft_limit) and linear_position > self.positive_soft_limit:
+ # Print positive soft limit violation to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ return (angular_position, linear_position)
+ # END measure()
+
+ # Adjust the pendulum's linear position using the motor.
+ ### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
+ ##### Negative values will move the pendulum to the left.
+ ##### Positive values will move the pendulum to the right.
+ def adjust(self, speed):
+ # cap the speed inputs
+ if speed > 100.0:
+ speed = 100.0
+ if speed < -100.0:
+ speed = -100.0
+ # change the motor speed
+ # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
+ self.motor.coast()
+ self.motor.move(speed)
+ # END adjust()
+
+ # Append data to the results file
+ def add_results(self, angle, position, speed):
+ # open the results file
+ result_file = open(self.result_filename, "a")
+ # Write the results
+ result_file.write("%d," % angle) # Write angle
+ result_file.write("%d," % position) # Write position
+ result_file.write("%d\n" % speed) # Write speed (end of line)
+ # Close the results file
+ result_file.close()
+ # END add_results
+
+ # Go back to the zero position (linear) so that the next execution starts in the correct place.
+ def return_home(self):
+ position = self.encoder_linear.read_position()
+ # slowly move towards 0 until we get there
+ if position > 0:
+ self.motor.move(-1)
+ elif position < 0:
+ self.motor.move(1)
+ while not position == 0:
+ position = self.encoder_linear.read_position()
+ self.motor.brake()
+ # END return_home
+
+ # Callback for when negative limit switch is triggered.
+ def negative_limit_callback(self, channel):
+ # Print negative limit trigger to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Negative hardware limit has been reached!")
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ # END negative_limit_callback
+ # Callback for when positive limit switch is triggered.
+ def positive_limit_callback(self, channel):
+ # Print positive limit trigger to the results file.
+ result_file = open(self.result_filename, "a")
+ result_file.write("Positive hardware limit has been reached!")
+ result_file.close()
+ # Fire the limit trigger method (stops motor, kills program immediately).
+ self.limit_triggered()
+ # END positive_limit_callback
+ def limit_triggered(self):
+ self.motor.brake()
+ sleep(2)
+ self.return_home()
+ sys.exit(1)
+# END System
+
+# Linear Encoder class
+# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
+# The function definitions here are the same as with the regular encoder (pseudo-interface).
+class Linear_Encoder:
+ # MEASURE THIS on the assembled physical system.
+ # Measure the distance moved by the cart for exactly 1 rotation of the encoder. Try to be as exact as possible (but shouldn't be a big deal if we are off a little).
+ # Determine the units we want to measure and report (probably inches?)
+ DISTANCE_PER_ROTATION = 4.0 # MEASURE THIS!!!!!!
+
+ def __init__(self, clk_pin, cs_pin, data_pin):
+ self.encoder = Encoder(clk_pin, cs_pin, data_pin)
+ self.set_zero()
+ def set_zero(self):
+ # Set the zero position for the encoder
+ self.encoder.set_zero()
+ # Reset the internal position counter
+ self.rotations = 0
+ self.last_position = 0
+ def read_position(self):
+ # Read the position of the encoder
+ position = self.encoder.read_position('Raw')
+ # Compare to last known position
+ # NOTE: For now, assume that we are moving the smallest possible distance (i.e. 5 -> 1 is -4, not 1020)
+ if position - self.last_position > 0:
+ if position < 512 and self.last_position > 512:
+ # We are moving to the right (positive) and have completed a new rotation
+ self.rotations = self.rotations + 1
+ else:
+ if position > 512 and self.last_position < 512:
+ # We are moving to the left (negative) and have completed a new rotation
+ self.rotations = self.rotations - 1
+ # Save the last position for the next calculation
+ self.last_position = position
+
+ # compute the position based on the system parameters
+ # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
+ return (DISTANCE_PER_ROTATION)*(self.rotations + position/1024)
diff --git a/System_Python/test_Motor.py b/System_Python/test_Motor.py index 99db520..80cff1e 100644 --- a/System_Python/test_Motor.py +++ b/System_Python/test_Motor.py @@ -11,13 +11,13 @@ m = Motor(speed_pin, forward_pin, reverse_pin) dir = 'ascending'
speed = 0.0
while 1:
- m.move(speed)
- if speed >= 100.0:
+ if speed >= 15.0:
dir = 'descending'
- elif speed <= -100.0:
+ elif speed <= -15.0:
dir = 'ascending'
if dir == 'ascending':
- speed = speed + 0.5
+ speed = speed + 2.0
else:
- speed = speed - 0.5
+ speed = speed - 2.0
+ m.move(speed)
time.sleep(0.1)
\ No newline at end of file |