Add IR, encoder, motor, display
This commit is contained in:
Konstantin Lampalzer
parent
530ddd8be7
commit
63b8f868c9
6 changed files with 248 additions and 247 deletions
39
compLib/Display.py
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39
compLib/Display.py
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@ -0,0 +1,39 @@
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import string
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from compLib.LogstashLogging import logstash_logger
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from compLib.Spi import Spi, Register
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LINE_COUNT = 4
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CHARS_PER_LINE = 16
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class Display(object):
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"""Access the different IR Sensors of the robot
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"""
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@staticmethod
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def write(line: int, text: string):
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if len(text) > CHARS_PER_LINE:
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logstash_logger.error(f"Too many characters specified!")
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return
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if line <= 0 or line > LINE_COUNT:
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raise IndexError("Invalid line number specified")
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to_write = [0] * CHARS_PER_LINE
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for i in range(len(text)):
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to_write[i] = ord(text[i])
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if line == 1:
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Spi.write(Register.DISPLAY_LINE_1_C0, CHARS_PER_LINE, to_write)
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elif line == 2:
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Spi.write(Register.DISPLAY_LINE_2_C0, CHARS_PER_LINE, to_write)
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elif line == 3:
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Spi.write(Register.DISPLAY_LINE_3_C0, CHARS_PER_LINE, to_write)
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elif line == 4:
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Spi.write(Register.DISPLAY_LINE_4_C0, CHARS_PER_LINE, to_write)
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@staticmethod
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def clear():
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for i in range(1, LINE_COUNT + 1):
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Display.write(i, "")
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37
compLib/Encoder.py
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37
compLib/Encoder.py
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@ -0,0 +1,37 @@
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import atexit
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from enum import Enum
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from compLib.LogstashLogging import Logging
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from compLib.Spi import Spi, Register
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MOTOR_COUNT = 4
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class Encoder(object):
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"""Class used to read the encoders
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"""
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@staticmethod
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def read(port: int) -> int:
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"""Read encoder from a specified port
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:param port: Port, which the motor is connected to. 1-4 allowed
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:raises: IndexError
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:return: Current encoder position
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"""
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if port <= 0 or port > MOTOR_COUNT:
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raise IndexError("Invalid encoder port specified!")
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if port == 1:
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return Spi.read(Register.MOTOR_1_POS_B3, 4)
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elif port == 2:
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return Spi.read(Register.MOTOR_2_POS_B3, 4)
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elif port == 3:
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return Spi.read(Register.MOTOR_3_POS_B3, 4)
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elif port == 4:
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return Spi.read(Register.MOTOR_4_POS_B3, 4)
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@staticmethod
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def reset(port: int):
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# TODO implement registers and me
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pass
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@ -1,157 +1,40 @@
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import pigpio
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from compLib.ADC import ADC
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from compLib.LogstashLogging import Logging
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from compLib.Spi import Spi, Register
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import spidev
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import threading
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import time
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TOP_LEFT_CHANNEL = 0
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TOP_RIGHT_CHANNEL = 1
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TOP_IR_MIN_VOLTAGE = 0.0
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TOP_IR_MAX_VOLTAGE = 3.3
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BOTTOM_LEFT_PIN = 14
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BOTTOM_MIDDLE_PIN = 15
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BOTTOM_RIGHT_PIN = 23
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BOTTOM_LEFT_CHANNEL = 2
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BOTTOM_MIDDLE_CHANNEL = 1
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BOTTOM_RIGHT_CHANNEL = 0
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adc = ADC()
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spi = spidev.SpiDev()
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spi.open(0, 0)
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spi.max_speed_hz = 1000000
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# GPIO.setmode(GPIO.BCM)
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GPIO = pigpio.pi()
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GPIO.set_mode(BOTTOM_LEFT_PIN, pigpio.INPUT)
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GPIO.set_mode(BOTTOM_MIDDLE_PIN, pigpio.INPUT)
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GPIO.set_mode(BOTTOM_RIGHT_PIN, pigpio.INPUT)
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states = {
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str(BOTTOM_LEFT_PIN): GPIO.read(BOTTOM_LEFT_PIN),
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str(BOTTOM_MIDDLE_PIN): GPIO.read(BOTTOM_MIDDLE_PIN),
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str(BOTTOM_RIGHT_PIN): GPIO.read(BOTTOM_RIGHT_PIN)}
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analog_states = {
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str(BOTTOM_LEFT_CHANNEL): 0,
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str(BOTTOM_MIDDLE_CHANNEL): 0,
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str(BOTTOM_RIGHT_CHANNEL): 0}
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def gpio_callback(gpio, level, tick):
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states[str(gpio)] = level
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GPIO.callback(BOTTOM_LEFT_PIN, pigpio.EITHER_EDGE, gpio_callback)
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GPIO.callback(BOTTOM_MIDDLE_PIN, pigpio.EITHER_EDGE, gpio_callback)
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GPIO.callback(BOTTOM_RIGHT_PIN, pigpio.EITHER_EDGE, gpio_callback)
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def read_analog_channel(channel):
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spi.writebytes([channel << 3, 0])
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time.sleep(0.0033) # 300HZ
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bytes = spi.readbytes(2)
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return (bytes[0] * 256 + bytes[1]) >> 2
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def sensor_thread():
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while True:
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analog_states[str(BOTTOM_LEFT_CHANNEL)] = read_analog_channel(BOTTOM_LEFT_CHANNEL)
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analog_states[str(BOTTOM_MIDDLE_CHANNEL)] = read_analog_channel(BOTTOM_MIDDLE_CHANNEL)
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analog_states[str(BOTTOM_RIGHT_CHANNEL)] = read_analog_channel(BOTTOM_RIGHT_CHANNEL)
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analog_thread = threading.Thread(target=sensor_thread, daemon=True)
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analog_thread.start()
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time.sleep(0.25)
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SENSOR_COUNT = 5
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class IRSensor(object):
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"""Access the different IR Sensors at top / bottom of the robot
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"""Access the different IR Sensors of the robot
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"""
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@staticmethod
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def top_left_percent() -> int:
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"""Get top left infrared sensor percentage
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def read(sensor: int) -> int:
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if sensor <= 0 or sensor > SENSOR_COUNT:
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raise IndexError("Invalid sensor specified!")
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:return: Percentage between 0 and 100
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:rtype: int
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"""
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voltage = adc.read(TOP_LEFT_CHANNEL)
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return int((voltage - TOP_IR_MIN_VOLTAGE) / TOP_IR_MAX_VOLTAGE * 100)
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if sensor == 1:
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return Spi.read(Register.IR_1_H, 2)
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elif sensor == 2:
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return Spi.read(Register.IR_2_H, 2)
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elif sensor == 3:
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return Spi.read(Register.IR_3_H, 2)
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elif sensor == 4:
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return Spi.read(Register.IR_4_H, 2)
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return 0
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@staticmethod
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def top_right_percent() -> int:
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"""Get top right infrared sensor percentage
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:return: Percentage between 0 and 100
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:rtype: int
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"""
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voltage = adc.read(TOP_RIGHT_CHANNEL)
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return int((voltage - TOP_IR_MIN_VOLTAGE) / TOP_IR_MAX_VOLTAGE * 100)
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@staticmethod
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def bottom_left() -> bool:
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"""Get bottom left infrared sensor status
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:return: True, if sensor detects IR signals
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:rtype: bool
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"""
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return states[str(BOTTOM_LEFT_PIN)]
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# return GPIO.read(BOTTOM_LEFT_PIN)
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@staticmethod
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def bottom_middle() -> bool:
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"""Get bottom middle infrared sensor status
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:return: True, if sensor detects IR signals
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:rtype: bool
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"""
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return states[str(BOTTOM_MIDDLE_PIN)]
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# return GPIO.read(BOTTOM_MIDDLE_PIN)
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@staticmethod
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def bottom_right() -> bool:
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"""Get bottom right infrared sensor status
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:return: True, if sensor detects IR signals
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:rtype: bool
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"""
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return states[str(BOTTOM_RIGHT_PIN)]
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# return GPIO.read(BOTTOM_RIGHT_PIN)
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@staticmethod
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def bottom_left_analog() -> int:
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"""Get bottom left infrared sensor value: ranges from 0 to 1023
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:return: 10-bit brightness value
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:rtype: int
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"""
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return analog_states[str(BOTTOM_LEFT_CHANNEL)]
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@staticmethod
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def bottom_middle_analog() -> int:
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"""Get bottom middle infrared sensor value: ranges from 0 to 1023
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:return: 10-bit brightness value
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:rtype: int
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"""
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return analog_states[str(BOTTOM_MIDDLE_CHANNEL)]
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@staticmethod
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def bottom_right_analog() -> int:
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"""Get bottom right infrared sensor value: ranges from 0 to 1023
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:return: 10-bit brightness value
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:rtype: int
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"""
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return analog_states[str(BOTTOM_RIGHT_CHANNEL)]
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def set(sensor: int, on: bool):
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if sensor <= 0 or sensor > SENSOR_COUNT:
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raise IndexError("Invalid sensor specified!")
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if sensor == 1:
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Spi.write(Register.IR_1_LED, on)
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elif sensor == 2:
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Spi.write(Register.IR_2_LED, on)
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elif sensor == 3:
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Spi.write(Register.IR_3_LED, on)
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elif sensor == 4:
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Spi.write(Register.IR_4_LED, on)
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@ -1,81 +0,0 @@
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from compLib.IRSensor import IRSensor
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import time
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ir = IRSensor()
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MIN_VALUE = 0.0
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MAX_VALUE = 0.0
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MOVING_AVERAGE_SIZE = 30.0
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def approximate_rolling_average(avg, value):
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avg -= avg / MOVING_AVERAGE_SIZE
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avg += value / MOVING_AVERAGE_SIZE
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return avg
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class IRWrapper(object):
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"""Wrapper around the IRSensor to enable calibration of the sensor
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"""
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@staticmethod
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def calibrate():
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"""Calibrate the black and white values of the IRSensors
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This is done by putting the bot on black line with the middle sensor
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Afterwards, all sensors are read for 2 seconds and filtered.
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The minimum value is used for white, maximum is black.
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"""
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global MIN_VALUE
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global MAX_VALUE
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left_avg = ir.bottom_left_analog()
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middle_avg = ir.bottom_middle_analog()
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right_avg = ir.bottom_right_analog()
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start_time = time.time()
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while time.time() - start_time < 2:
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left_avg = approximate_rolling_average(left_avg, ir.bottom_left_analog())
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middle_avg = approximate_rolling_average(middle_avg, ir.bottom_middle_analog())
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right_avg = approximate_rolling_average(right_avg, ir.bottom_right_analog())
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time.sleep(0.01)
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MIN_VALUE = min([left_avg, middle_avg, right_avg])
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MAX_VALUE = max([left_avg, middle_avg, right_avg])
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@staticmethod
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def adjust_for_calibration(raw_value: float) -> float:
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"""Adjust a raw sensor value to 0 to 1000
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:return: Value between 0 and 1000, White and Black
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:rtype: float
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"""
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x = (raw_value - MIN_VALUE) * 1000.0 / (MAX_VALUE - MIN_VALUE)
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return max(min(1000.0, x), 0.0)
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@staticmethod
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def bottom_left_calibrated() -> float:
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"""Returns calibrated value of the bottom left analog sensor
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:return: Value between 0 and 1000, White and Black
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:rtype: float
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"""
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return IRWrapper.adjust_for_calibration(ir.bottom_left_analog())
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@staticmethod
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def bottom_middle_calibrated() -> float:
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"""Returns calibrated value of the bottom middle analog sensor
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:return: Value between 0 and 1000, White and Black
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:rtype: float
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"""
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return IRWrapper.adjust_for_calibration(ir.bottom_middle_analog())
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@staticmethod
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def bottom_right_calibrated() -> float:
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"""Returns calibrated value of the bottom right analog sensor
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:return: Value between 0 and 1000, White and Black
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:rtype: float
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"""
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return IRWrapper.adjust_for_calibration(ir.bottom_right_analog())
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@ -1,49 +1,76 @@
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import atexit
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from enum import Enum
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from compLib.LogstashLogging import Logging
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from compLib.Spi import Spi, Register
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MOTOR_COUNT = 4
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MAX_MOTOR_SPEED = 4095.0
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MAX_MOTOR_SPEED = 65535
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MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0
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class MotorMode(Enum):
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COAST = 0,
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FORWARD = 1,
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BACKWARD = 2,
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BREAK = 3
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class Motor(object):
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"""Class used to control the motors
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"""
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@staticmethod
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def pwm(port: int, pwm: int, mode: MotorMode):
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"""Set specified motor to a specific pwm value and motor mode
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:param port: Port, which the motor is connected to. 1-4 allowed
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:param pwm: Raw PWM value which the motor should be set to. From 0 to 2^16 - 1
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:param mode: Motor mode. See enum MotorMode for more info
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:raises: IndexError
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"""
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if port <= 0 or port > MOTOR_COUNT:
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raise IndexError("Invalid Motor port specified!")
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if port == 1:
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Spi.write(Register.MOTOR_1_PWM_H, 2, pwm)
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Spi.write(Register.MOTOR_1_CTRL, 1, mode)
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elif port == 2:
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Spi.write(Register.MOTOR_2_PWM_H, 2, pwm)
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Spi.write(Register.MOTOR_2_CTRL, 1, mode)
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elif port == 3:
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Spi.write(Register.MOTOR_3_PWM_H, 2, pwm)
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Spi.write(Register.MOTOR_3_CTRL, 1, mode)
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elif port == 4:
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Spi.write(Register.MOTOR_4_PWM_H, 2, pwm)
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Spi.write(Register.MOTOR_4_CTRL, 1, mode)
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@staticmethod
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def power(port: int, percent: float):
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"""Set specified motor to percentage power
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:param port: Port, which the motor is connected to. 0-3, 0 -> top left, 3 -> top right
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:param port: Port, which the motor is connected to. 1-4
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:param percent: Percentage of max speed. between -100 and 100
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:raises: IndexError
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"""
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Logging.get_logger().debug(f"Motor.power {port} {percent}")
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if port < 0 or port >= MOTOR_COUNT:
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if port <= 0 or port > MOTOR_COUNT:
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raise IndexError("Invalid Motor port specified!")
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if percent < -100 or percent > 100:
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raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
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forward = True
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mode = MotorMode.COAST
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if percent < 0:
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percent = abs(percent)
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forward = False
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mode = MotorMode.BACKWARD
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elif percent > 0:
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mode = MotorMode.FORWARD
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# bottom left motor is inverted - REEEEEEEEEEEE
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if port == 1:
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forward = not forward
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pwm = percent * MOTOR_PERCENTAGE_MULT
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adjusted_speed = int(min(max(0.0, percent), 100.0) * MOTOR_PERCENTAGE_MULT)
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if forward:
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pwm.setMotorPwm(port * 2, adjusted_speed)
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pwm.setMotorPwm(port * 2 + 1, 0)
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else:
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pwm.setMotorPwm(port * 2, 0)
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pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
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Motor.pwm(port, int(pwm), mode)
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@staticmethod
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def all_off():
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@ -52,8 +79,17 @@ class Motor(object):
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"""
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Logging.get_logger().debug(f"Motor.all_off")
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for i in range(0, MOTOR_COUNT):
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Motor.power(i, 0)
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for i in range(1, MOTOR_COUNT + 1):
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Motor.active_break(i)
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@staticmethod
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def active_break(port: int):
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"""
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Actively break with a specific motor
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:param port: Port, which the motor is connected to. 1-4
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"""
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Motor.pwm(port, 0, MotorMode.BREAK)
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atexit.register(Motor.all_off)
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@ -2,7 +2,7 @@ import spidev
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from threading import Thread, Lock
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from enum import Enum
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# from LogstashLogging import logstash_logger
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from LogstashLogging import logstash_logger
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SPI_BUS = 1
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SPI_DEVICE = 2
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@ -29,8 +29,7 @@ class Spi(object):
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rx_buffer = spi.xfer([0] * 32)
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if rx_buffer[1] != write_reg:
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# logstash_logger.error(f"SPI error during write to register {tx_buffer[0]}!")
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print(f"SPI error during write to register {write_reg}!")
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logstash_logger.error(f"SPI error during write to register {tx_buffer[0]}!")
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return rx_buffer
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@ -59,4 +58,92 @@ class Spi(object):
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pos += 1
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rx_buf = Spi.transfer(tx_buf)
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return int.from_bytes(rx_buf[2:2 + length], byteorder='big', signed=False)
|
||||
return int.from_bytes(rx_buf[2:2 + length], byteorder='big', signed=False)
|
||||
|
||||
@staticmethod
|
||||
def write_array(reg: int, length: int, values: list[int]):
|
||||
tx_buf = [0] * SPI_BUFFER_SIZE
|
||||
|
||||
tx_buf[0] = 1
|
||||
tx_buf[1] = reg
|
||||
tx_buf[2] = length
|
||||
|
||||
pos = 3
|
||||
for i in values:
|
||||
tx_buf[pos] = i
|
||||
pos += 1
|
||||
|
||||
rx_buf = Spi.transfer(tx_buf)
|
||||
return rx_buf
|
||||
|
||||
|
||||
class Register(Enum):
|
||||
IDENTIFICATION_MODEL_ID = 1,
|
||||
IDENTIFICATION_MODEL_REV_MAJOR = 2,
|
||||
IDENTIFICATION_MODEL_REV_MINOR = 3,
|
||||
IDENTIFICATION_MODEL_REV_PATCH = 4,
|
||||
|
||||
# Motor encoder positions
|
||||
MOTOR_1_POS_B3 = 10,
|
||||
MOTOR_1_POS_B2 = 11,
|
||||
MOTOR_1_POS_B1 = 12,
|
||||
MOTOR_1_POS_B0 = 13,
|
||||
MOTOR_2_POS_B3 = 14,
|
||||
MOTOR_2_POS_B2 = 15,
|
||||
MOTOR_2_POS_B1 = 16,
|
||||
MOTOR_2_POS_B0 = 17,
|
||||
MOTOR_3_POS_B3 = 18,
|
||||
MOTOR_3_POS_B2 = 19,
|
||||
MOTOR_3_POS_B1 = 20,
|
||||
MOTOR_3_POS_B0 = 21,
|
||||
MOTOR_4_POS_B3 = 22,
|
||||
MOTOR_4_POS_B2 = 23,
|
||||
MOTOR_4_POS_B1 = 24,
|
||||
MOTOR_4_POS_B0 = 25,
|
||||
|
||||
# Motor pwm speed
|
||||
MOTOR_1_PWM_H = 26,
|
||||
MOTOR_1_PWM_L = 27,
|
||||
MOTOR_1_CTRL = 28,
|
||||
MOTOR_2_PWM_H = 29,
|
||||
MOTOR_2_PWM_L = 30,
|
||||
MOTOR_2_CTRL = 31,
|
||||
MOTOR_3_PWM_H = 32,
|
||||
MOTOR_3_PWM_L = 33,
|
||||
MOTOR_3_CTRL = 34,
|
||||
MOTOR_4_PWM_H = 35,
|
||||
MOTOR_4_PWM_L = 36,
|
||||
MOTOR_4_CTRL = 37,
|
||||
|
||||
# Servo goal position
|
||||
SERVO_1_PWM_H = 38,
|
||||
SERVO_1_PWM_L = 39,
|
||||
SERVO_2_PWM_H = 40,
|
||||
SERVO_2_PWM_L = 41,
|
||||
SERVO_3_PWM_H = 42,
|
||||
SERVO_3_PWM_L = 43,
|
||||
SERVO_4_PWM_H = 44,
|
||||
SERVO_4_PWM_L = 45,
|
||||
|
||||
# IR Sensor value
|
||||
IR_1_H = 46,
|
||||
IR_1_L = 47,
|
||||
IR_2_H = 48,
|
||||
IR_2_L = 49,
|
||||
IR_3_H = 50,
|
||||
IR_3_L = 51,
|
||||
IR_4_H = 52,
|
||||
IR_4_L = 53,
|
||||
IR_5_H = 54,
|
||||
IR_5_L = 55,
|
||||
IR_1_LED = 56,
|
||||
IR_2_LED = 57,
|
||||
IR_3_LED = 58,
|
||||
IR_4_LED = 59,
|
||||
IR_5_LED = 60,
|
||||
|
||||
# Display registers
|
||||
DISPLAY_LINE_1_C0 = 63,
|
||||
DISPLAY_LINE_2_C0 = 79,
|
||||
DISPLAY_LINE_3_C0 = 95,
|
||||
DISPLAY_LINE_4_C0 = 111
|
||||
|
|
|
|||
Reference in a new issue