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coderbot-copy.py
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coderbot-copy.py
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############################################################################
# CoderBot, a didactical programmable robot.
# Copyright (C) 2014, 2015 Roberto Previtera <[email protected]>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
############################################################################
import os
import time
import threading
import logging
import pigpio
import sonar
import mpu
PIN_MOTOR_ENABLE = 22
PIN_LEFT_FORWARD = 25
PIN_LEFT_BACKWARD = 24
PIN_RIGHT_FORWARD = 4
PIN_RIGHT_BACKWARD = 17
PIN_PUSHBUTTON = 11
PIN_SERVO_3 = 9
PIN_SERVO_4 = 10
PIN_SONAR_1_TRIGGER = 18
PIN_SONAR_1_ECHO = 7
PIN_SONAR_2_TRIGGER = 18
PIN_SONAR_2_ECHO = 8
PIN_SONAR_3_TRIGGER = 18
PIN_SONAR_3_ECHO = 23
PIN_ENCODER_LEFT = 15
PIN_ENCODER_RIGHT = 14
PWM_FREQUENCY = 100 #Hz
PWM_RANGE = 100 #0-100
class CoderBot(object):
# pylint: disable=too-many-instance-attributes
_pin_out = [PIN_MOTOR_ENABLE, PIN_LEFT_FORWARD, PIN_RIGHT_FORWARD, PIN_LEFT_BACKWARD, PIN_RIGHT_BACKWARD, PIN_SERVO_3, PIN_SERVO_4]
def __init__(self, servo=False, motor_trim_factor=1.0, encoder=False):
self.pi = pigpio.pi('localhost')
self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
self._cb = dict()
self._cb_last_tick = dict()
self._cb_elapse = dict()
self._servo = servo
self._encoder = encoder
self._motor_trim_factor = motor_trim_factor
if self._servo:
self.motor_control = self._servo_motor
elif self._encoder:
self._twin_motors_enc = self.TwinMotorsEncoder(
self.pi,
pin_enable=PIN_MOTOR_ENABLE,
pin_forward_left=PIN_LEFT_FORWARD,
pin_backward_left=PIN_LEFT_BACKWARD,
pin_encoder_left=PIN_ENCODER_LEFT,
pin_forward_right=PIN_RIGHT_FORWARD,
pin_backward_right=PIN_RIGHT_BACKWARD,
pin_encoder_right=PIN_ENCODER_RIGHT)
self.motor_control = self._dc_enc_motor
else:
self.motor_control = self._dc_motor
self._cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE, self._cb_button)
for pin in self._pin_out:
self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
self.pi.set_PWM_range(pin, PWM_RANGE)
self.sonar = [sonar.Sonar(self.pi, PIN_SONAR_1_TRIGGER, PIN_SONAR_1_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_2_TRIGGER, PIN_SONAR_2_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_3_TRIGGER, PIN_SONAR_3_ECHO)]
try:
self._ag = mpu.AccelGyro()
except IOError:
logging.info("MPU not available")
self.stop()
self._is_moving = False
the_bot = None
def exit(self):
self._cb1.cancel()
if self._encoder:
self._twin_motors_enc.exit()
for s in self.sonar:
s.cancel()
@classmethod
def get_instance(cls, servo=False, motor_trim_factor=1.0):
if not cls.the_bot:
cls.the_bot = CoderBot(servo, motor_trim_factor)
return cls.the_bot
def move(self, speed=100, elapse=-1, steps=-1):
speed_left = min(100, max(-100, speed * self._motor_trim_factor))
speed_right = min(100, max(-100, speed / self._motor_trim_factor))
self.motor_control(speed_left=speed_left, speed_right=speed_right, elapse=elapse, steps_left=steps, steps_right=steps)
def turn(self, speed=100, elapse=-1, steps=-1):
speed_left = min(100, max(-100, speed * self._motor_trim_factor))
speed_right = -min(100, max(-100, speed / self._motor_trim_factor))
self.motor_control(speed_left=speed_left, speed_right=speed_right, elapse=elapse, steps_left=steps, steps_right=steps)
def turn_angle(self, speed=100, angle=0):
z = self._ag.get_gyro_data()['z']
self.turn(speed, elapse=-1)
while abs(z - self._ag.get_gyro_data()['z']) < angle:
time.sleep(0.05)
logging.info(self._ag.get_gyro_data()['z'])
self.stop()
def forward(self, speed=100, elapse=-1):
self.move(speed=speed, elapse=elapse)
def backward(self, speed=100, elapse=-1):
self.move(speed=-speed, elapse=elapse)
def left(self, speed=100, elapse=-1):
self.turn(speed=-speed, elapse=elapse)
def right(self, speed=100, elapse=-1):
self.turn(speed=speed, elapse=elapse)
def servo3(self, angle):
self._servo_control(PIN_SERVO_3, angle)
def servo4(self, angle):
self._servo_control(PIN_SERVO_4, angle)
def get_sonar_distance(self, sonar_id=0):
return self.sonar[sonar_id].get_distance()
def _dc_enc_motor(self, speed_left=100, speed_right=100, elapse=-1, steps_left=-1, steps_right=-1):
self._twin_motors_enc.control(power_left=speed_left, power_right=speed_right,
elapse=elapse, speed_left=speed_left, speed_right=speed_right,
steps_left=steps_left, steps_right=steps_right)
def _dc_motor(self, speed_left=100, speed_right=100, elapse=-1, steps_left=-1, steps_right=-1):
# pylint: disable=too-many-instance-attributes
self._encoder_cur_left = 0
self._encoder_cur_right = 0
self._encoder_target_left = steps_left
self._encoder_target_right = steps_right
self._encoder_dir_left = (speed_left > 0) - (speed_left < 0)
self._encoder_dir_right = (speed_right > 0) - (speed_right < 0)
self._encoder_last_tick_time_left = 0
self._encoder_last_tick_time_right = 0
self._encoder_motor_stopping_left = False
self._encoder_motor_stopping_right = False
self._encoder_motor_stopped_left = False
self._encoder_motor_stopped_right = False
self._is_moving = True
if speed_left < 0:
speed_left = abs(speed_left)
self.pi.write(PIN_LEFT_FORWARD, 0)
self.pi.set_PWM_dutycycle(PIN_LEFT_BACKWARD, speed_left)
else:
self.pi.write(PIN_LEFT_BACKWARD, 0)
self.pi.set_PWM_dutycycle(PIN_LEFT_FORWARD, speed_left)
if speed_right < 0:
speed_right = abs(speed_right)
self.pi.write(PIN_RIGHT_FORWARD, 0)
self.pi.set_PWM_dutycycle(PIN_RIGHT_BACKWARD, speed_right)
else:
self.pi.write(PIN_RIGHT_BACKWARD, 0)
self.pi.set_PWM_dutycycle(PIN_RIGHT_FORWARD, speed_right)
self.pi.write(PIN_MOTOR_ENABLE, 1)
if elapse > 0:
time.sleep(elapse)
self.stop()
def _servo_motor(self, speed_left=100, speed_right=100, elapse=-1, steps_left=-1, steps_right=-1):
self._is_moving = True
speed_left = -speed_left
steps_left
steps_right
self.pi.write(PIN_MOTOR_ENABLE, 1)
self.pi.write(PIN_RIGHT_BACKWARD, 0)
self.pi.write(PIN_LEFT_BACKWARD, 0)
self._servo_motor_control(PIN_LEFT_FORWARD, speed_left)
self._servo_motor_control(PIN_RIGHT_FORWARD, speed_right)
if elapse > 0:
time.sleep(elapse)
self.stop()
def _servo_motor_control(self, pin, speed):
self._is_moving = True
speed = ((speed + 100) * 50 / 200) + 52
self.pi.set_PWM_range(pin, 1000)
self.pi.set_PWM_frequency(pin, 50)
self.pi.set_PWM_dutycycle(pin, speed)
def _servo_control(self, pin, angle):
duty = ((angle + 90) * 100 / 180) + 25
self.pi.set_PWM_range(pin, 1000)
self.pi.set_PWM_frequency(pin, 50)
self.pi.set_PWM_dutycycle(pin, duty)
def stop(self):
if self._encoder:
self._twin_motors_enc.stop()
else:
for pin in self._pin_out:
self.pi.write(pin, 0)
self._is_moving = False
def is_moving(self):
return self._is_moving
def set_callback(self, gpio, callback, elapse):
self._cb_elapse[gpio] = elapse * 1000
self._cb[gpio] = callback
self._cb_last_tick[gpio] = 0
def sleep(self, elapse):
logging.debug("sleep: %s", str(elapse))
time.sleep(elapse)
def _cb_button(self, gpio, level, tick):
cb = self._cb.get(gpio)
if cb:
elapse = self._cb_elapse.get(gpio)
if level == 0:
self._cb_last_tick[gpio] = tick
elif tick - self._cb_last_tick[gpio] > elapse:
self._cb_last_tick[gpio] = tick
logging.info("pushed: %d, %d", level, tick)
cb()
class MotorEncoder(object):
def __init__(self, parent, _pigpio, pin_enable, pin_forward, pin_backward, pin_encoder):
self._parent = parent
self._pigpio = _pigpio
self._pin_enable = pin_enable
self._pin_forward = pin_forward
self._pin_backward = pin_backward
self._pin_encoder = pin_encoder
self._direction = False
self._pin_duty = 0
self._pin_reverse = 0
self._power = 0.0
self._power_actual = 0.0
self._encoder_dist = 0
self._encoder_speed = 0.0
self._encoder_last_tick = 0
self._encoder_dist_target = 0
self._encoder_speed_target = 0.0
self._encoder_k_s_1 = 20
self._encoder_k_v_1 = 80
self._motor_stopping = False
self._motor_running = False
self._motor_stop_fast = True
self._pigpio.set_mode(self._pin_encoder, pigpio.INPUT)
self._cb = self._pigpio.callback(self._pin_encoder, pigpio.RISING_EDGE, self._cb_encoder)
self._motor_lock = threading.RLock()
def exit(self):
self._cb.cancel()
def _cb_encoder(self, gpio, level, tick):
self._motor_lock.acquire()
self._encoder_dist += 1
delta_ticks = tick - self._encoder_last_tick if tick > self._encoder_last_tick else tick - self._encoder_last_tick + 4294967295
self._encoder_last_tick = tick
self._encoder_speed = 1000000.0 / delta_ticks #convert speed in steps per second
#print "pin: " + str(self._pin_forward) + " dist: " + str(self._encoder_dist) + " target: " + str(self._encoder_dist_target)
if self._encoder_dist_target >= 0 and self._motor_stop_fast:
#delta_s is the delta (in steps)before the target to reverse the motor in order to arrive at target
delta_s = max(min(self._encoder_speed / self._encoder_k_s_1, 100), 0)
#print "pin: " + str(self._pin_forward) + " dist: " + str(self._encoder_dist) + " target: " + str(self._encoder_dist_target) + " delta_s: " + str(delta_s)
if (self._encoder_dist >= self._encoder_dist_target - delta_s and
not self._motor_stopping and self._motor_running):
self._motor_stopping = True
self._pigpio.write(self._pin_duty, 0)
self._pigpio.set_PWM_dutycycle(self._pin_reverse, self._power)
elif (self._motor_running and
((self._motor_stopping and
self._encoder_speed < self._encoder_k_v_1) or
(self._motor_stopping and
self._encoder_dist >= self._encoder_dist_target))):
self.stop()
logging.info("dist: " + str(self._encoder_dist) + " speed: " + str(self._encoder_speed))
if self._encoder_dist_target >= 0 and not self._motor_stop_fast:
if self._encoder_dist >= self._encoder_dist_target:
self.stop()
self._parent._cb_encoder(self, gpio, level, tick)
self._motor_lock.release()
if not self._motor_running:
self._parent._check_complete()
def control(self, power=100.0, elapse=-1, speed=100.0, steps=-1):
self._motor_lock.acquire()
self._direction = speed > 0
self._encoder_dist_target = steps
self._motor_stopping = False
self._motor_running = True
self._encoder_dist = 0
self._encoder_speed_target = abs(speed)
self._power = abs(power) #TODO: initial power must be a function of desired speed
self._power_actual = abs(power) #TODO: initial power must be a function of desired speed
self._pin_duty = self._pin_forward if self._direction else self._pin_backward
self._pin_reverse = self._pin_backward if self._direction else self._pin_forward
self._pigpio.write(self._pin_reverse, 0)
self._pigpio.set_PWM_dutycycle(self._pin_duty, self._power)
self._pigpio.write(self._pin_enable, True)
self._motor_lock.release()
if elapse > 0:
time.sleep(elapse)
self.stop()
def stop(self):
self._motor_lock.acquire()
self._motor_stopping = False
self._motor_running = False
self._pigpio.write(self._pin_forward, 0)
self._pigpio.write(self._pin_backward, 0)
self._motor_lock.release()
def distance(self):
return self._encoder_dist
def speed(self):
return self._encoder_speed
def stopping(self):
return self._motor_stopping
def running(self):
return self._motor_running
def adjust_power(self, power_delta):
self._power_actual = min(max(self._power + power_delta, 0), 100)
self._pigpio.set_PWM_dutycycle(self._pin_duty, self._power_actual)
class TwinMotorsEncoder(object):
def __init__(self, apigpio, pin_enable, pin_forward_left, pin_backward_left, pin_encoder_left, pin_forward_right, pin_backward_right, pin_encoder_right):
self._straight = False
self._running = False
self._encoder_sem = threading.Condition()
self._motor_left = CoderBot.MotorEncoder(self, apigpio, pin_enable, pin_forward_left, pin_backward_left, pin_encoder_left)
self._motor_right = CoderBot.MotorEncoder(self, apigpio, pin_enable, pin_forward_right, pin_backward_right, pin_encoder_right)
def exit(self):
self._motor_left.exit()
self._motor_right.exit()
def control(self, power_left=100.0, power_right=100.0, elapse=-1, speed_left=-1, speed_right=-1, steps_left=-1, steps_right=-1):
self._straight = power_left == power_right and speed_left == speed_right and steps_left == steps_right
if steps_left >= 0 or steps_right >= 0:
self._encoder_sem.acquire()
self._motor_left.control(power=power_left, elapse=-1, speed=speed_left, steps=steps_left)
self._motor_right.control(power=power_right, elapse=-1, speed=speed_right, steps=steps_right)
self._running = True
if elapse > 0:
time.sleep(elapse)
self.stop()
if steps_left >= 0 or steps_right >= 0:
self._encoder_sem.wait()
self._encoder_sem.release()
self.stop()
def stop(self):
self._motor_left.stop()
self._motor_right.stop()
self._running = False
def distance(self):
return (self._motor_left.distance() + self._motor_right.distance()) / 2
def speed(self):
return (self._motor_left.speed() + self._motor_right.speed()) / 2
def _cb_encoder(self, motor, gpio, level, tick):
if (self._straight and self._running and not self._motor_left.stopping() and not self._motor_right.stopping() and
abs(self._motor_left.distance() - self._motor_right.distance()) > 2):
distance_delta = self._motor_left.distance() - self._motor_right.distance()
speed_delta = self._motor_left.speed() - self._motor_right.speed()
power_delta = (distance_delta / 2.0) + (speed_delta / 10.0)
#print "power_delta: " + str(power_delta) + " distance_delta: " + str(distance_delta) + " speed_delta: " + str(speed_delta)
if self._motor_left == motor:
self._motor_left.adjust_power(-power_delta)
if self._motor_right == motor:
self._motor_right.adjust_power(power_delta)
def _check_complete(self):
if self._motor_left.running() is False and self._motor_right.running() is False:
self._encoder_sem.acquire()
self._encoder_sem.notify()
self._encoder_sem.release()
def halt(self):
os.system('sudo halt')
def restart(self):
os.system('sudo /etc/init.d/coderbot restart')
def reboot(self):
os.system('sudo reboot')