HU-Projects/pid-balancer
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Added more standard logging. Changed some variables.

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This commit is contained in:
Rudi klein 2024-12-30 18:58:40 +01:00
parent 6608ecc8bf
commit a359707bc7
3 changed files with 34 additions and 28 deletions
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54
control_functions.py
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@ -4,16 +4,13 @@ from adafruit_servokit import ServoKit # Servo libraries for PWM dr
import adafruit_pcf8591.pcf8591 as PCF # AD/DA converter board for potentiometer
from adafruit_pcf8591.analog_in import AnalogIn # Analogue in pin library
from adafruit_pcf8591.analog_out import AnalogOut # Analogue out pin library
import adafruit_pcf8591 as pcf8591 # AD/DA converter board for potentiometer
import numpy as np # Number handling
import pandas as pd # Data handling
import matplotlib.pyplot as plt # Plotter handling
from scipy.integrate import odeint # Integral calculations
import statistics as st # Mean and median calculations
import csv # CSV handling
from datetime import datetime # Date and time formatting
import time # Time formatting
import main
# Variables to control sensor
TRIGGER_PIN = board.D4 # GPIO pin xx
ECHO_PIN = board.D17 # GPIO pin xx
@ -39,7 +36,7 @@ MAX_SAMPLES = 10
PCF_VALUE = 65535
POT_MAX = 65280
POT_MIN = 256
POT_INTERVAL = 0.1
POT_INTERVAL = 0.01
# Variables to assist PID calculations
current_time: float = 0
@ -64,7 +61,7 @@ def initial():
...
# Write data to any of the logfiles
def log_data(file_stamp: str, data_file: str, data_line: float, remark: str|None):
def log_data(file_stamp: str, data_file: str, data_line: str, remark: str|None):
log_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
with open("pid-balancer_" + data_file + "_data_" + file_stamp + ".csv", "a") as data_file:
@ -85,7 +82,7 @@ def read_distance_sensor(file_stamp):
distance: float = sonar.distance
if MIN_DISTANCE < distance < MAX_DISTANCE:
log_data(file_stamp,"sensor", distance, None) if LOG else None
log_data(file_stamp,"sensor", str(distance), None) if LOG else None
print("Distance: ", distance) if SCREEN else None
sample_array.append(distance)
@ -103,16 +100,16 @@ def read_distance_sensor(file_stamp):
print(mean_timestamp) if SCREEN else None
else:
log_data(file_stamp,"sensor", distance,"Ignored") if LOG and DEBUG else None
log_data(file_stamp=file_stamp, data_file="sensor", data_line=str(distance), remark=None) if LOG else None
print("Distance: ", distance) if SCREEN else None
except RuntimeError:
log_data(file_stamp, "sensor", 999.999, "Timeout") if LOG and DEBUG else None
log_data(file_stamp=file_stamp, data_file="sensor", data_line="999.999", remark="Timeout") if LOG and DEBUG else None
print("Timeout") if SCREEN else None
return median_distance, mean_timestamp
def read_setpoint():
def read_setpoint(file_stamp):
i2c = board.I2C()
pcf = PCF.PCF8591(i2c)
@ -121,28 +118,34 @@ def read_setpoint():
pcf_out.value = PCF_VALUE
while True:
raw_value: float = pcf_in_0.value
raw_value: int = pcf_in_0.value
scaled_value: float = (raw_value / PCF_VALUE) * pcf_in_0.reference_voltage
# Calculate angle in reference to raw pot values
angle: float = ((180 - 0) / (POT_MAX - POT_MIN)) * (raw_value - POT_MIN)
angle = round(((180 - 0) / (POT_MAX - POT_MIN)) * (raw_value - POT_MIN),0)
log_line = str(scaled_value) + "," + str(raw_value) + "," + str(angle)
log_data(file_stamp=file_stamp, data_file="potmeter", data_line=log_line, remark=None) if LOG else None
if SCREEN:
print('pin 0 ', pcf.read(0))
print('raw_value ',raw_value)
print("pin 0: %0.2fV" % scaled_value)
print('pin 0= ', pcf.read(0))
print('raw_value= ',raw_value)
print("pin 0= %0.2fV" % scaled_value)
print('Scaled= ' , scaled_value)
print(angle)
time.sleep(POT_INTERVAL)
send_data_to_servo(set_angle=angle)
send_servo_angle(set_angle=angle)
def calculate_velocity():
...
def calculate_velocity(file_stamp):
def pid_calculations(setpoint):
velocity = "0"
log_data(file_stamp=file_stamp, data_file="velocity", data_line=velocity, remark=None) if LOG else None
def pid_calculations(file_stamp, setpoint):
global i_result, previous_time, previous_error
offset_value: int = 320
measurement, measurement_time = read_distance_sensor()
measurement, measurement_time = read_distance_sensor(file_stamp=main.file_stamp) # todo Check logging
error: float = setpoint - measurement
error_sum: float = 0.0
@ -160,16 +163,15 @@ def pid_calculations(setpoint):
previous_error = error
previous_time = measurement_time
log_line = str(p_result) + "," + str(i_result) + "," + str(d_result) + "," + str(pid_result)
log_data(file_stamp=file_stamp, data_file="pid", data_line=log_line, remark=None) if LOG else None
return pid_result
def calculate_new_servo_position():
def calculate_servo_position():
...
def send_data_to_servo(set_angle):
def send_servo_angle(set_angle):
KIT.servo[0].angle = set_angle # Set angle
read_distance_sensor(file_stamp=123)
read_setpoint()

2
main.py
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@ -4,6 +4,8 @@ import control_functions as cf
file_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%I%M')
cf.read_distance_sensor(file_stamp)
cf.read_setpoint(file_stamp)
cf.send_servo_angle(file_stamp)

6
plotter_functions.py
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@ -1,5 +1,7 @@
import pandas as pd
import matplotlib.pyplot as plt
import pandas as pd # Data wrangling
import numpy as np # Number handling
import matplotlib.pyplot as plt # Plotter handling
from scipy.integrate import odeint # Integral calculations
# Variables to control logging.
LOG: bool = True # Log data to files