Telos4/RoboRally
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simplified structure of the program and added motor class for L293D driver

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This commit is contained in:
Simon Pirkelmann 2019-06-26 10:48:23 +02:00
parent 843b30f5d3
commit 85e2019370
1 changed files with 86 additions and 132 deletions
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158
micropython_firmware/main.py
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@ -4,18 +4,48 @@ from machine import I2C, Pin
import d1motor import d1motor
import utime import time
import usocket import usocket
import uselect
import esp import esp
class Motor:
def __init__(self, enable, dir1, dir2):
self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
self.enable_pwm = machine.PWM(self.enable_pin)
self.enable_pwm.freq(500)
self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
self.reverse()
def reverse(self):
self.direction = not self.direction
self.dir1_pin.value(self.direction)
self.dir2_pin.value(not self.direction)
def speed(self, value):
if value > 0: # forward
if not self.direction: # switch direction if necessary
self.reverse()
else: # backward
if self.direction: # switch direction if necessary
self.reverse()
# apply value as pwm signal
self.enable_pwm.duty(abs(value)*10)
class Robot: class Robot:
def __init__(self): def __init__(self):
i2c = False
if i2c:
print("setting up I2C ...") print("setting up I2C ...")
d1 = Pin(5) #d1 = Pin(5)
d2 = Pin(4) #d2 = Pin(4)
i2c = I2C(scl=d1, sda=d2) #i2c = I2C(scl=d1, sda=d2)
i2c_scan = i2c.scan() #i2c_scan = i2c.scan()
i2c_scan = []
if len(i2c_scan) > 0: if len(i2c_scan) > 0:
i2c_addr = i2c_scan[0] i2c_addr = i2c_scan[0]
print("i2c scan = {}".format(i2c_addr)) print("i2c scan = {}".format(i2c_addr))
@ -28,17 +58,14 @@ class Robot:
else: else:
print("error: no i2c interfaces found!") print("error: no i2c interfaces found!")
sys.exit(1) sys.exit(1)
else:
self.m1 = Motor(14, 13, 12)
self.m2 = Motor(5, 0, 4)
ip = my_ip[0] ip = my_ip[0]
# setup socket for remote control # setup socket for remote control
self.addr = usocket.getaddrinfo(ip, 1234)[0][-1] self.addr = usocket.getaddrinfo(ip, 1234)[0][-1]
self.poller = uselect.poll()
self.poller_timeout = 2 # timeout in ms
self.control_queue = []
def remote_control(self): def remote_control(self):
while True: while True:
print("setting up socket communication ...") print("setting up socket communication ...")
@ -52,124 +79,51 @@ class Robot:
socket_setup_complete = True socket_setup_complete = True
except Exception as e: except Exception as e:
print("could not create socket. error msg: {}\nwaiting 1 sec and retrying...".format(e)) print("could not create socket. error msg: {}\nwaiting 1 sec and retrying...".format(e))
utime.sleep(1.0) time.sleep(1.0)
print("waiting for connections on {} ...".format(self.addr)) print("waiting for connections on {} ...".format(self.addr))
socket.listen(1) socket.listen(1)
res = socket.accept() # this blocks until someone connects to the socket res = socket.accept() # this blocks until someone connects to the socket
comm_socket = res[0] comm_socket = res[0]
self.poller.register(comm_socket, uselect.POLLIN)
print("connected!") print("connected!")
listening = True listening = True
try:
duration_current = 0
t_current = utime.ticks_ms()
duration_next = None
stopped = True
timeouts = 0
while listening: while listening:
elapsed = utime.ticks_ms() # expected data: '(t, u1, u2)'\n"
remaining = duration_current - (elapsed-t_current)
if remaining >= 0:
timeouts = 0
print("start of loop\n I have {} ms until next control needs to be applied".format(remaining))
else:
# current control timed out -> applying next control
if len(self.control_queue) > 0:
print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
u_next = self.control_queue.pop(0)
#print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
#print("applying new control (duration, u1, u2) = ({}, {}, {})".format(duration_next, u1_next, u2_next))
# if so, apply it
self.m1.speed(u_next[0])
self.m2.speed(u_next[1])
t_current = utime.ticks_ms()
duration_current = duration_next
stopped = False
elif not stopped:
print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
#print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
# no new control available -> shutdown
print("no new control available -> stopping")
self.m1.speed(0)
self.m2.speed(0)
t_current = utime.ticks_ms()
duration_current = 0 # as soon as new control will become available we directly want to apply it immediately
stopped = True
#elif timeouts < 10:
# print("start of loop\n I have {} ms until next control needs to be applied, timeouts = {}".format(remaining, timeouts))
# timeouts = timeouts + 1
trecv_start = utime.ticks_ms()
# expected data: '(t, u1_0, u2_0, u1_1, u2_1, ...)'\n"
# where ui = control for motor i # where ui = control for motor i
# ui \in [-1.0, 1.0] # ui \in [-1.0, 1.0]
#print("poller waiting..")
poll_res = self.poller.poll(self.poller_timeout) # wait 100 milliseconds for socket data
if poll_res:
print("new data available")
try:
data = comm_socket.readline() data = comm_socket.readline()
data_str = data.decode() data_str = data.decode()
#print("Data received: {}".format(data_str)) print("Data received: {}".format(data_str))
#print("processing data = {}".format(data_str)) print("processing data = {}".format(data_str))
l = data_str.strip('()\n').split(',') l = data_str.strip('()\n').split(',')
#print("l = {}".format(l)) print("l = {}".format(l))
duration_next = int(float(l[0])*1000) u1 = int(float(l[0])*100)
#print("duration = {}".format(duration_next)) print("u1 = {}".format(u1))
self.control_queue = [] u2 = int(float(l[1])*100)
print("putting data into queue") print("u2 = {}".format(u2))
for i in range((len(l)-1)/2):
u1_next = int(float(l[2*i+1])*100) self.m1.speed(u1)
print("u1 = {}".format(u1_next)) self.m2.speed(u2)
u2_next = int(float(l[2*i+2])*100)
print("u2 = {}".format(u2_next))
self.control_queue.append((u1_next, u2_next))
except ValueError: except ValueError:
print("ValueError: Data has wrong format.") print("ValueError: Data has wrong format.")
print("Data received: {}".format(data_str)) print("Data received: {}".format(data_str))
print("Shutting down ...")
self.control_queue = []
duration_current = 0
listening = False
comm_socket.close()
socket.close()
del comm_socket
del socket
print("disconnected!")
except IndexError: except IndexError:
print("IndexError: Data has wrong format.") print("IndexError: Data has wrong format.")
print("Data received: {}".format(data_str)) print("Data received: {}".format(data_str))
print("Shutting down ...")
self.control_queue = []
duration_current = 0
listening = False
comm_socket.close()
socket.close()
del comm_socket
del socket
print("disconnected!")
except Exception as e: except Exception as e:
print("Some other error occured") print("Some other error occured")
print("Exception: {}".format(e)) print("Exception: {}".format(e))
finally:
print("Shutting down ...") print("Shutting down ...")
self.control_queue = [] u1 = u2 = 0
duration_current = 0 self.m1.speed(u1)
self.m2.speed(u2)
listening = False listening = False
comm_socket.close() comm_socket.close()
socket.close() socket.close()
del comm_socket del comm_socket
del socket del socket
print("disconnected!")
trecv_end = utime.ticks_ms()
print("communication (incl. polling) took {} ms".format(trecv_end - trecv_start))
wall_e = Robot() wall_e = Robot()
wall_e.remote_control() wall_e.remote_control()