added analogue board and cosmetics

.idea/misc.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.11 (pid-balancer)" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.11 (pid-balancer)" project-jdk-type="Python SDK" />
+</project>

control_functions.py

@@ -1,75 +1,172 @@
-from adafruit_hcsr04 import HCSR04 as hcsr04
+from adafruit_hcsr04 import HCSR04 as hcsr04        # PWM driver board for servo
-import board
+import board                                        # PWM driver board for servo
-import data_transfer_functions as dt
+from adafruit_servokit import ServoKit              # Servo libraries
-from adafruit_servokit import ServoKit
+import adafruit_pcf8591.pcf8591 as PCF              # AD/DA converter board for potentiometer
-import numpy as np
+from adafruit_pcf8591.analog_in import AnalogIn     # Analogue in pin library
-import matplotlib.pyplot as plt
+from adafruit_pcf8591.analog_out import AnalogOut   # Analogue out pin library
-from scipy.integrate import odeint
+import adafruit_pcf8591 as pcf8591                  # AD/DA converter board for potentiometer
-import numpy as np
+import numpy as np                                  # Number handling
-import matplotlib.pyplot as plt
+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
 
+from serial.tools.list_ports_osx import kCFNumberSInt8Type
+
+######################################## Variables (start) ##################################
 # Variables to control sensor
-TRIGGER_PIN = board.D4
+TRIGGER_PIN = board.D4      # GPIO pin xx
-ECHO_PIN = board.D17
+ECHO_PIN = board.D17        # GPIO pin xx
-TIMEOUT = 0.1
+TIMEOUT: float = 0.1        # Timout for echo wait
-MIN_DISTANCE = 4
+MIN_DISTANCE: int = 4       # Minimum sensor distance to considered valid
-MAX_DISTANCE = 40
+MAX_DISTANCE: int = 40      # Maximum sensor distance to considered valid
+
+# Variables to control servo
+KIT = ServoKit(channels=16) # Define the type of board (8, 16)
+MIN_PULSE = 500             # Defines angle 0
+MAX_PULSE = 2500            # Defines angle 180
+KIT.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
 
 # Variables to control logging.
-LOG = True
+LOG: bool = True            # Log data to files
-SCREEN = True
+SCREEN: bool = True         # Log data to screen
+DEBUG: bool = False         # More data to display
 
-# PID measurements
+# Variables to assist PID calculations
-time = 0
+current_time: float = 0
-integral = 0
+integral: float = 0
-time_prev = -1e-6
+time_prev: float  = -1e-6
-e_prev = 0
+error_prev: float = 0
 
+# Variables to control PID values (PID formula tweaks)
+p_value: float = 2
+i_value: float = 0
+d_value: float = 0
+
+# Initial variables, used in pid_calculations()
+i_result: float = 0
+previous_time: float
+previous_error: float
+
+# Init array, used in read_distance_sensor()
+sample_array: list = []
+
+######################################## Variables (end) ##################################
 
 def initial():
     ...
 
+# Create timestamp strings for logs and screen
+def time_stamper():
+    log_timestamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
+    file_timestamp: str = datetime.strftime(datetime.now(), '%Y%m%d%I%M')
+    return log_timestamp, file_timestamp
+
+# Write data to any of the logfiles
+def log_data(fixed_file_stamp: str, data_file: str, data_line: float, remark: str|None):
+    log_stamp, _ = time_stamper()
+
+    with open("pid-balancer_" + data_file + "_data_" + fixed_file_stamp + ".csv", "a") as data_file:
+        data_writer  = csv.writer(data_file)
+        data_writer.writerow([log_stamp,data_line, remark])
 
 def read_distance_sensor(fixed_file_stamp):
 
     with (hcsr04(trigger_pin=TRIGGER_PIN, echo_pin=ECHO_PIN, timeout=TIMEOUT) as sonar):
-
+        samples: int = 0
-        while True:
+        max_samples: int = 10
+        timestamp_last: float = 0.0
+        timestamp_first: float = 0.0
+        while samples != max_samples:
             try:
-                distance = sonar.distance
+                distance: float = sonar.distance
                 if MIN_DISTANCE < distance < MAX_DISTANCE:
 
-                    dt.log_data(fixed_file_stamp,"sensor", distance, None) if LOG else None
+                    log_data(fixed_file_stamp,"sensor", distance, None) if LOG else None
-                    print("Distance: ", sonar.distance) if SCREEN else None
+                    print("Distance: ", distance) if SCREEN else None
+
+                    sample_array.append(distance)
+                    if samples == 0: timestamp_first, _ = time_stamper()
+                    if samples == max_samples - 1: timestamp_last, _ = time_stamper()
+
+                    timestamp_first_float: float = float(timestamp_first)
+                    timestamp_last_float: float = float(timestamp_last)
+                    samples: int = samples + 1
+                    median_distance: list = st.median(sample_array)
+                    mean_timestamp: float  = st.mean([timestamp_first_float, timestamp_last_float])
+                    print(median_distance) if SCREEN else None
+                    print(mean_timestamp) if SCREEN else None
+
                 else:
-                    dt.log_data(fixed_file_stamp,"sensor", distance,"Ignored") if LOG else None
+                    log_data(fixed_file_stamp,"sensor", distance,"Ignored") if LOG and DEBUG else None
                     print("Distance: ", distance) if SCREEN else None
 
             except RuntimeError:
-                dt.log_data(fixed_file_stamp, "sensor", 999.999, "Timeout") if LOG else None
+                log_data(fixed_file_stamp, "sensor", 999.999, "Timeout") if LOG and DEBUG else None
                 print("Timeout") if SCREEN else None
 
+    return median_distance, mean_timestamp
+
 def read_setpoint():
-    ...
+
+
+    ############# AnalogOut & AnalogIn Example ##########################
+    #
+    # This example shows how to use the included AnalogIn and AnalogOut
+    # classes to set the internal DAC to output a voltage and then measure
+    # it with the first ADC channel.
+    #
+    # Wiring:
+    # Connect the DAC output to the first ADC channel, in addition to the
+    # normal power and I2C connections
+    #
+    #####################################################################
+    i2c = board.I2C()
+    pcf = PCF.PCF8591(i2c)
+
+    pcf_in_0 = AnalogIn(pcf, PCF.A0)
+    pcf_out = AnalogOut(pcf, PCF.OUT)
+
+    while True:
+        print("Setting out to ", 65535)
+        pcf_out.value = 65535
+        raw_value = pcf_in_0.value
+        scaled_value = (raw_value / 65535) * pcf_in_0.reference_voltage
+
+        print("Pin 0: %0.2fV" % (scaled_value))
+        print("")
+        time.sleep(1)
 
 
 def calculate_velocity():
+    ...
 
+def pid_calculations(setpoint):
 
+    global i_result, previous_time, previous_error
+    offset_value: int = 320
+    measurement, current_time = read_distance_sensor
+    error: float = setpoint - measurement
+    error_sum: float = 0.0
 
-def PID_calculations(Kp, Ki, Kd, setpoint, measurement):
+    if previous_time is None:
+        previous_error: float = 0.0
+        previous_time: float = current_time
+        i_result: float = 0.0
+        error_sum: float = error * 0.008 # sensor sampling number approximation.
 
-    global cur_time, integral, prev_time, prev_error
+    error_sum: float = error_sum +  (error * (current_time - previous_time))
-    offset_value = 320
+    p_result: float = p_value * error
-    # PID calculations
+    i_result: float =  i_value * error_sum
-    error = setpoint - measurement
+    d_result: float = d_value * ((error - previous_error) / (current_time - previous_time))
-    P = Kp * error
+    pid_result: float = offset_value + p_result + i_result + d_result
-    integral = integral + Ki * error * (cur_time - prev_time)
+    previous_error: float = error
-    D = Kd * (error - prev_error) / (cur_time - prev_time)
+    previous_time: float = current_time
-    PID_result = offset_value + P + integral + D
+
-    prev_error = error
+    return pid_result
-    prev_time = cur_time
-    return PID_result
 
 
 def calculate_new_servo_pos():
@@ -78,8 +175,5 @@ def calculate_new_servo_pos():
 
 def send_data_to_servo():
 
-    kit = ServoKit(channels=16)
+    KIT.servo[0].angle = 180 # Set angle
-    kit.servo[0].set_pulse_width_range(500, 2500)
-
-    kit.servo[0].angle = 180
 

data_transfer_functions.py

@@ -1,16 +0,0 @@
-import csv
-from datetime import datetime
-
-# Create timestamp strings for logs and screen
-def timestamper():
-    log_timestamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
-    file_timestamp: str = datetime.strftime(datetime.now(), '%Y%m%d%I%M')
-    return log_timestamp, file_timestamp
-
-# Write data to any of the logfiles
-def log_data(fixed_file_stamp: str, data_file: str, data_line: float, remark: str|None):
-    log_stamp, _ = timestamper()
-
-    with open("pid-balancer_" + data_file + "_data_" + fixed_file_stamp + ".csv", "a") as data_file:
-        data_writer = csv.writer(data_file)
-        data_writer.writerow([log_stamp,data_line, remark])

main.py

@@ -1,14 +1,14 @@
 import control_functions as cf
-import data_transfer_functions as dt
 import plotter_functions as pf
 import numpy as np
 import matplotlib.pyplot as plt
 from scipy.integrate import odeint
 import numpy as np
 import matplotlib.pyplot as plt
-import data_transfer_functions as dt
+import statistics as st
+from adafruit_hcsr04 import HCSR04 as hcsr04
 
-_, fixed_file_stamp = dt.timestamper()
+_, fixed_file_stamp = cf.time_stamper()
 
 
 cf.read_distance_sensor(fixed_file_stamp)