HU-Projects/pid-balancer
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added all the code to use the new laser sensor. Its like 5 lines of code.

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Rudi klein 2025-01-12 17:36:19 +01:00
parent 11ce0a109b
commit f3a02c8db3
2 changed files with 13 additions and 13 deletions
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8
Examples/Adafruit_Servokit_servo_driver.py
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@ -20,12 +20,8 @@ kit.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
# property angle: float | None # property angle: float | None
# The servo angle in degrees. Must be in the range 0 to actuation_range. # The servo angle in degrees. Must be in the range 0 to actuation_range.
# Is None when servo is disabled. # Is None when servo is disabled.
while True:
kit.servo[0].angle = 110 kit.servo[0].angle = 90
sleep(1)
kit.servo[0].angle = 90
sleep(0.1)
print("test")

18
control_functions.py
View File

@ -1,5 +1,3 @@
from csv import excel
from adafruit_hcsr04 import HCSR04 as hcsr04 # Ultrasound sensor from adafruit_hcsr04 import HCSR04 as hcsr04 # Ultrasound sensor
import board # General board pin mapper import board # General board pin mapper
from adafruit_servokit import ServoKit # Servo libraries for PWM driver board from adafruit_servokit import ServoKit # Servo libraries for PWM driver board
@ -8,10 +6,15 @@ from adafruit_pcf8591.analog_in import AnalogIn # Analogue in pin library
from adafruit_pcf8591.analog_out import AnalogOut # Analogue out pin library from adafruit_pcf8591.analog_out import AnalogOut # Analogue out pin library
import statistics as st # Mean and median calculations import statistics as st # Mean and median calculations
import csv # CSV handling import csv # CSV handling
from datetime import datetime # Date and time formatting
from time import sleep # Sleep/pause from time import sleep # Sleep/pause
import pandas as pd import pandas as pd
from datetime import datetime from datetime import datetime
import busio
import adafruit_vl6180x
# laser sensor controls.
i2c = busio.I2C(board.SCL, board.SDA)
laser = adafruit_vl6180x.VL6180X(i2c)
# Variables to control sensor # Variables to control sensor
TRIGGER_PIN = board.D4 # GPIO pin xx TRIGGER_PIN = board.D4 # GPIO pin xx
@ -29,10 +32,10 @@ OFFSET: int = -1
KIT.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE) KIT.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
# Variables to control logging. # Variables to control logging.
LOG: bool = True # Log data to files LOG: bool = True # Log data to files
SCREEN: bool = True # Log data to screen SCREEN: bool = True # Log data to screen
DEBUG: bool = False # More data to display DEBUG: bool = False # More data to display
TWIN_MODE: bool = False TWIN_MODE: bool = False # Run in live or twin mode
# Control the number of samples for single distance measurement (average from burst) # Control the number of samples for single distance measurement (average from burst)
MAX_SAMPLES: int = 1 MAX_SAMPLES: int = 1
@ -114,7 +117,9 @@ def read_distance_sensor():
while samples != max_samples: while samples != max_samples:
sleep(RUN_TIMEOUT) sleep(RUN_TIMEOUT)
try: try:
distance: float = sonar.distance distance: float = sonar.distance # reading distance from the sonic sensor
# distance: float = laser.range * 10 # reading distance from the laser sensor
if MIN_DISTANCE < distance < MAX_DISTANCE: if MIN_DISTANCE < distance < MAX_DISTANCE:
log_data(data_file="sensor", data_line=str(distance), remark="") if LOG else None log_data(data_file="sensor", data_line=str(distance), remark="") if LOG else None
@ -334,7 +339,6 @@ def servo_slower():
return servo_angle return servo_angle
try: try:
with open("pid-balancer_" + "time_file.txt", "w") as time_file: with open("pid-balancer_" + "time_file.txt", "w") as time_file:
time_file.write(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]) time_file.write(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3])