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f175b29eda
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.idea/misc.xml
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2
.idea/misc.xml
generated
@ -3,5 +3,5 @@
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<component name="Black">
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<option name="sdkName" value="Python 3.11 (pid-balancer)" />
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</component>
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.11 (pid-balancer) (2)" project-jdk-type="Python SDK" />
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.11 (pid-balancer)" project-jdk-type="Python SDK" />
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</project>
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@ -1,6 +1,6 @@
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from adafruit_hcsr04 import HCSR04 as hcsr04 # Ultrasound sensor
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import board # General board pin mapper
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from adafruit_servokit import ServoKit # Servo libraries for PWM driver board
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from adafruit_hcsr04 import HCSR04 as hcsr04 # PWM driver board for servo
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import board # PWM driver board for servo
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from adafruit_servokit import ServoKit # Servo libraries
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import adafruit_pcf8591.pcf8591 as PCF # AD/DA converter board for potentiometer
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from adafruit_pcf8591.analog_in import AnalogIn # Analogue in pin library
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from adafruit_pcf8591.analog_out import AnalogOut # Analogue out pin library
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@ -14,6 +14,9 @@ import csv # CSV handling
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from datetime import datetime # Date and time formatting
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import time # Time formatting
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from serial.tools.list_ports_osx import kCFNumberSInt8Type
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######################################## Variables (start) ##################################
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# Variables to control sensor
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TRIGGER_PIN = board.D4 # GPIO pin xx
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ECHO_PIN = board.D17 # GPIO pin xx
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@ -32,15 +35,6 @@ LOG: bool = True # Log data to files
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SCREEN: bool = True # Log data to screen
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DEBUG: bool = False # More data to display
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# Control the number of samples for single measurement
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MAX_SAMPLES = 10
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# Control the number of samples for the potentiometer
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PCF_VALUE = 65535
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POT_MAX = 65280
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POT_MIN = 256
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POT_INTERVAL = 0.1
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# Variables to assist PID calculations
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current_time: float = 0
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integral: float = 0
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@ -48,36 +42,42 @@ time_prev: float = -1e-6
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error_prev: float = 0
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# Variables to control PID values (PID formula tweaks)
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p_value : float = 2.0
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i_value: float = 0.0
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d_value: float = 0.0
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p_value: float = 2
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i_value: float = 0
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d_value: float = 0
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# Initial variables, used in pid_calculations()
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i_result: float = 0.0
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previous_time: float = 0.0
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previous_error: float = 0.0
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i_result: float = 0
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previous_time: float
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previous_error: float
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# Init array, used in read_distance_sensor()
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sample_array: list = []
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######################################## Variables (end) ##################################
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def initial():
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...
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# Write data to any of the logfiles
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def log_data(file_stamp: str, data_file: str, data_line: float, remark: str|None):
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log_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
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# Create timestamp strings for logs and screen
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def time_stamper():
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log_timestamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
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file_timestamp: str = datetime.strftime(datetime.now(), '%Y%m%d%I%M')
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return log_timestamp, file_timestamp
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with open("pid-balancer_" + data_file + "_data_" + file_stamp + ".csv", "a") as data_file:
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# Write data to any of the logfiles
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def log_data(fixed_file_stamp: str, data_file: str, data_line: float, remark: str|None):
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log_stamp, _ = time_stamper()
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with open("pid-balancer_" + data_file + "_data_" + fixed_file_stamp + ".csv", "a") as data_file:
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data_writer = csv.writer(data_file)
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data_writer.writerow([log_stamp,data_line, remark])
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def read_distance_sensor(file_stamp):
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def read_distance_sensor(fixed_file_stamp):
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# Do a burst (MAX_SAMPLES) of measurements, filter out the obvious wrong ones (too short or to long distance)
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# Return the mean timestamp and median distance.
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with hcsr04(trigger_pin=TRIGGER_PIN, echo_pin=ECHO_PIN, timeout=TIMEOUT) as sonar:
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with (hcsr04(trigger_pin=TRIGGER_PIN, echo_pin=ECHO_PIN, timeout=TIMEOUT) as sonar):
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samples: int = 0
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max_samples: int = MAX_SAMPLES
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max_samples: int = 10
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timestamp_last: float = 0.0
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timestamp_first: float = 0.0
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while samples != max_samples:
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@ -85,14 +85,12 @@ def read_distance_sensor(file_stamp):
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distance: float = sonar.distance
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if MIN_DISTANCE < distance < MAX_DISTANCE:
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log_data(file_stamp,"sensor", distance, None) if LOG else None
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log_data(fixed_file_stamp,"sensor", distance, None) if LOG else None
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print("Distance: ", distance) if SCREEN else None
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sample_array.append(distance)
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if samples == 0: timestamp_first = float(datetime.strftime(datetime.now(),
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'%Y%m%d%H%M%S.%f')[:-3])
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if samples == max_samples - 1: timestamp_last = float(datetime.strftime(datetime.now(),
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'%Y%m%d%H%M%S.%f')[:-3])
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if samples == 0: timestamp_first, _ = time_stamper()
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if samples == max_samples - 1: timestamp_last, _ = time_stamper()
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timestamp_first_float: float = float(timestamp_first)
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timestamp_last_float: float = float(timestamp_last)
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@ -103,37 +101,45 @@ def read_distance_sensor(file_stamp):
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print(mean_timestamp) if SCREEN else None
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else:
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log_data(file_stamp,"sensor", distance,"Ignored") if LOG and DEBUG else None
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log_data(fixed_file_stamp,"sensor", distance,"Ignored") if LOG and DEBUG else None
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print("Distance: ", distance) if SCREEN else None
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except RuntimeError:
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log_data(file_stamp, "sensor", 999.999, "Timeout") if LOG and DEBUG else None
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log_data(fixed_file_stamp, "sensor", 999.999, "Timeout") if LOG and DEBUG else None
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print("Timeout") if SCREEN else None
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return median_distance, mean_timestamp
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def read_setpoint():
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############# AnalogOut & AnalogIn Example ##########################
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#
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# This example shows how to use the included AnalogIn and AnalogOut
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# classes to set the internal DAC to output a voltage and then measure
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# it with the first ADC channel.
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#
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# Wiring:
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# Connect the DAC output to the first ADC channel, in addition to the
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# normal power and I2C connections
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#
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#####################################################################
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i2c = board.I2C()
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pcf = PCF.PCF8591(i2c)
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pcf_in_0 = AnalogIn(pcf, PCF.A0)
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pcf_out = AnalogOut(pcf, PCF.OUT)
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pcf_out.value = PCF_VALUE
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while True:
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raw_value: float = pcf_in_0.value
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scaled_value: float = (raw_value / PCF_VALUE) * pcf_in_0.reference_voltage
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# Calculate angle in reference to raw pot values
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angle: float = ((180 - 0) / (POT_MAX - POT_MIN)) * (raw_value - POT_MIN)
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print("Setting out to ", 65535)
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pcf_out.value = 65535
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raw_value = pcf_in_0.value
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scaled_value = (raw_value / 65535) * pcf_in_0.reference_voltage
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if SCREEN:
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print('pin 0 ', pcf.read(0))
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print('raw_value ',raw_value)
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print("pin 0: %0.2fV" % scaled_value)
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print(angle)
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print("Pin 0: %0.2fV" % (scaled_value))
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print("")
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time.sleep(1)
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time.sleep(POT_INTERVAL)
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send_data_to_servo(set_angle=angle)
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def calculate_velocity():
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...
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@ -142,34 +148,32 @@ def pid_calculations(setpoint):
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global i_result, previous_time, previous_error
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offset_value: int = 320
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measurement, measurement_time = read_distance_sensor()
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measurement, current_time = read_distance_sensor
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error: float = setpoint - measurement
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error_sum: float = 0.0
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if previous_time is None:
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previous_error = 0.0
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previous_time = current_time
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i_result = 0.0
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error_sum = error * 0.008 # sensor sampling number approximation.
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previous_error: float = 0.0
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previous_time: float = current_time
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i_result: float = 0.0
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error_sum: float = error * 0.008 # sensor sampling number approximation.
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error_sum: float = error_sum + (error * (current_time - previous_time))
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p_result = p_value * error
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i_result = i_value * error_sum
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d_result = d_value * ((error - previous_error) / (measurement_time - previous_time))
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pid_result = offset_value + p_result + i_result + d_result
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previous_error = error
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previous_time = measurement_time
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p_result: float = p_value * error
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i_result: float = i_value * error_sum
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d_result: float = d_value * ((error - previous_error) / (current_time - previous_time))
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pid_result: float = offset_value + p_result + i_result + d_result
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previous_error: float = error
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previous_time: float = current_time
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return pid_result
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def calculate_new_servo_position():
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def calculate_new_servo_pos():
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...
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def send_data_to_servo(set_angle):
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def send_data_to_servo():
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KIT.servo[0].angle = set_angle # Set angle
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KIT.servo[0].angle = 180 # Set angle
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read_distance_sensor(file_stamp=123)
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read_setpoint()
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14
main.py
14
main.py
@ -1,9 +1,17 @@
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from datetime import datetime
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import control_functions as cf
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import plotter_functions as pf
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import numpy as np
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import matplotlib.pyplot as plt
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from scipy.integrate import odeint
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import numpy as np
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import matplotlib.pyplot as plt
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import statistics as st
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from adafruit_hcsr04 import HCSR04 as hcsr04
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file_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%I%M')
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_, fixed_file_stamp = cf.time_stamper()
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cf.read_distance_sensor(file_stamp)
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cf.read_distance_sensor(fixed_file_stamp)
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@ -1,40 +1,7 @@
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import pandas as pd
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import matplotlib.pyplot as plt
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def read_data_file():
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pass
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# Variables to control logging.
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LOG: bool = True # Log data to files
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SCREEN: bool = True # Log data to screen
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DEBUG: bool = False # More data to display
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def read_data_file(data_file):
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data_frame = pd.read_csv(data_file)
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first_row_time = data_frame['Timestamp'].iloc[1]
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last_row_time = data_frame['Timestamp'].iloc[-1]
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first_row_value = data_frame['Value'].iloc[1]
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last_row_value = data_frame['Value'].iloc[-1]
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mean_value = data_frame['Value'].mean()
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median_value = data_frame['Value'].median()
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sum_value = data_frame['Value'].sum()
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def plot_graphs():
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pass
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if SCREEN:
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print('first_row_value ',first_row_value)
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print('last_row_value ',last_row_value)
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print('first_row_time ', first_row_time)
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print('last_row_time ', last_row_time)
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print('elapsed_time ', (last_row_time - first_row_time))
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print('mean_value ', mean_value)
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print('median_value ', median_value)
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print('sum_value ', sum_value)
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return data_frame
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def plot_data_frame(data_file):
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data_frame = read_data_file(data_file)
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plt.plot(data_frame['Timestamp'], data_frame['Value'])
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# plt.savefig(data_file + '.png')
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# img = plt.imread(data_file + '.png')
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# plt.imshow(img)
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plt.show()
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plot_data_frame(data_file = 'pid-balancer_twin_test_data.csv')
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