changed marker ids

micropython_firmware/main.py

@@ -2,7 +2,7 @@ import machine
 import sys
 from machine import I2C, Pin
 
-i2c = False
+i2c = True
 if i2c:
     import d1motor
 else:
@@ -13,14 +13,13 @@ import usocket
 import esp
 
 class Robot:
-    def __init__(self):
+    def __init__(self, i2c=True):
         if i2c:
             print("setting up I2C ...")
-            #d1 = Pin(5)
-            #d2 = Pin(4)
-            #i2c = I2C(scl=d1, sda=d2)
-            #i2c_scan = i2c.scan()
-            i2c_scan = []
+            d1 = Pin(5)
+            d2 = Pin(4)
+            i2c = I2C(scl=d1, sda=d2)
+            i2c_scan = i2c.scan()
             if len(i2c_scan) > 0:
                 i2c_addr = i2c_scan[0]
                 print("i2c scan = {}".format(i2c_addr))

remote_control/casadi_opt.py

@@ -138,7 +138,7 @@ class OpenLoopSolver:
         #return
 
 
-    def solve(self, x0, target, obstacles):
+    def solve(self, x0, target, obstacles, track):
         tstart = time.time()
         # alternative solution using multiple shooting (way faster!)
         self.opti = Opti() # Optimization problem
@@ -213,7 +213,7 @@ class OpenLoopSolver:
         # ---- path constraints -----------
         # limit = lambda pos: 1-sin(2*pi*pos)/2
         # self.opti.subject_to(speed<=limit(pos))   # track speed limit
-        maxcontrol = 0.95
+        maxcontrol = 0.9
         self.opti.subject_to(self.opti.bounded(-maxcontrol, self.U, maxcontrol))  # control is limited
 
         # ---- boundary conditions --------
@@ -236,7 +236,17 @@ class OpenLoopSolver:
             if p is not None:
                 for k in range(1,self.N):
                     self.opti.subject_to((self.X[0,k]-p[0])**2 + (self.X[1,k]-p[1])**2 + self.slack > r**2)
-        #    pass
+        # keep inside track
+        # TODO
+        # track_ids = track.inner.keys()
+        # a = track.outer[track_ids[0]]
+        # b = track.outer[track_ids[1]]
+        # c = track.outer[track_ids[2]]
+        # d = track.outer[track_ids[3]]
+        #
+        # for k in range(1, self.N):
+        #     self.opti.subject_to(self.opti.subject_to(self.X))
+
         posx = self.X[0, :]
         posy = self.X[1, :]
         angle = self.X[2, :]
@@ -250,8 +260,11 @@ class OpenLoopSolver:
 
         tstart = time.time()
         if self.use_warmstart and self.opti_x0 is not None:
+            try:
                 self.opti.set_initial(self.opti.lam_g, self.opti_lam_g0)
                 self.opti.set_initial(self.opti.x, self.opti_x0)
+            except RuntimeError:
+                print("could not set warmstart")
         sol = self.opti.solve()   # actual solve
         tend = time.time()
         print("solving the problem took {} seconds".format(tend - tstart))

remote_control/class_control_joystick.py

@@ -13,15 +13,34 @@ class robot:  # we have 4 arg for this class, because joysticks get the same (va
         self.robot0_stopped_3 = True
         self.robot0_stopped_4 = True
         self.rc_socket = socket.socket()
+        self.u1 = 0
+        self.u2 = 0
         try:
             self.rc_socket.connect((self.ip, self.port))
         except socket.error():
             print("couldn't connect to socket")
 
+        self.check_joystick = False
     def joystick_init(self):  # Joystick's initialisation
+        joystick_count = pygame.joystick.get_count()
+        for count in range(joystick_count):
+            if joystick_count == 2:
                 self.joystick = pygame.joystick.Joystick(self.joy)
+                print("{}-->joystick count".format(joystick_count))
                 self.joystick.init()
-        self.axes = self.joystick.get_numaxes()
+                self.check_joystick = True
+            elif joystick_count == 1:
+                joystick = pygame.joystick.Joystick(0)
+                joystick.init()
+                print("connected only 1 joystick - {}".format(joystick))
+                self.check_joystick = False
+            elif not joystick_count:
+                print("no joysticks connected")
+                self.check_joystick = False
+
+
+
+
 
     def control(self, event):  # the control of two robots with joysticks
         joy = event.joy
@@ -74,55 +93,56 @@ class robot:  # we have 4 arg for this class, because joysticks get the same (va
                     self.robot0_stopped_4 = True
 
     def control_keyboard(self, event):  # keyboard control for robot1
-        command_received = False
-        if event.key == pygame.K_LEFT:
+
+        if pressed[pygame.K_LEFT]:
             u1 = -1.0
             u2 = 1.0
-            command_received = True
-        elif event.key == pygame.K_RIGHT:
-            u1 = 1.0
-            u2 = -1.0
-            command_received = True
-        elif event.key == pygame.K_UP:
-            u1 = -1.0
-            u2 = -1.0
-            command_received = True
-        elif event.key == pygame.K_DOWN:
-            u1 = 1.0
-            u2 = 1.0
-            command_received = True
-        if command_received:
             self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
 
-    def control_keyboard_2(self, event):  # keyboard control for robot2
-
-        command_received = False
-        if event.key == pygame.K_a:
-            u1 = -1.0
-            u2 = 1.0
-            command_received = True
-        elif event.key == pygame.K_d:
+        elif pressed[pygame.K_RIGHT]:
             u1 = 1.0
             u2 = -1.0
-            command_received = True
-        elif event.key == pygame.K_w:
+            self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
+
+        elif pressed[pygame.K_UP]:
             u1 = -1.0
             u2 = -1.0
-            command_received = True
-        elif event.key == pygame.K_s:
+            self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
+
+        elif pressed[pygame.K_DOWN]:
             u1 = 1.0
             u2 = 1.0
-            command_received = True
-        if command_received:
             self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
 
-    def control_keyboard_stop(self):  # stop for both robot
+        elif event.type == pygame.KEYUP:
+            self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
 
-        u1 = 0
-        u2 = 0
-        print("key released, resetting: ({},{})".format(u1, u2))
+    def control_keyboard_2(self, event):  # keyboard control for robot1
+
+        if pressed[pygame.K_a]:
+            u1 = -1.0
+            u2 = 1.0
             self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
 
+        elif pressed[pygame.K_d]:
+            u1 = 1.0
+            u2 = -1.0
+            self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
+
+        elif pressed[pygame.K_w]:
+            u1 = -1.0
+            u2 = -1.0
+            self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
+
+        elif pressed[pygame.K_s]:
+            u1 = 1.0
+            u2 = 1.0
+            self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
+
+        elif event.type == pygame.KEYUP:
+            self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
+
+
 def main():
     pygame.init()
     pygame.display.set_mode((640, 480))
@@ -131,19 +151,18 @@ def main():
     robot_1.joystick_init()
     robot_2 = robot(1, '192.168.1.103', 1234)
     robot_2.joystick_init()
-
     while True:
         events = pygame.event.get()
+        global pressed
+        pressed = pygame.key.get_pressed()
         for event in events:
             if event.type == pygame.JOYAXISMOTION:
                 robot_1.control(event)
                 robot_2.control(event)
-            elif event.type == pygame.KEYDOWN:
+            else:
                 robot_1.control_keyboard(event)
                 robot_2.control_keyboard_2(event)
-            elif event.type == pygame.KEYUP:
-                robot_1.control_keyboard_stop()
-                robot_2.control_keyboard_stop()
+
 
 
 if __name__ == '__main__':

remote_control/position_controller.py

@@ -20,12 +20,16 @@ import matplotlib.pyplot as plt
 import matplotlib.animation as anim
 import matplotlib.patches as patch
 
+from shapely.geometry import Polygon
+
 import time
 
 from casadi_opt import OpenLoopSolver
 
 from marker_pos_angle.msg import id_pos_angle
 
+from collections import OrderedDict
+
 class Robot:
     def __init__(self, id, ip=None):
         self.pos = None
@@ -44,6 +48,57 @@ class Obstacle:
         self.pos = None
         self.radius = radius
 
+class Track:
+    def __init__(self):
+        # ids in clockwise direction
+        self.inner = OrderedDict()
+        self.inner[1] = None
+        self.inner[2] = None
+        self.inner[3] = None
+        self.inner[4] = None
+
+        self.outer = OrderedDict()
+        self.outer[5] = None
+        self.outer[6] = None
+        self.outer[7] = None
+        self.outer[8] = None
+
+        self.track_complete = False
+
+        self.inner_poly = None
+        self.outer_poly = None
+
+    def set_id(self, d):
+        if not self.track_complete:
+            if d.id in self.inner:
+                print("Detected marker {} at pos {}".format(d.id, (d.x,d.y)))
+                self.inner[d.id] = (d.x, d.y)
+            elif d.id in self.outer:
+                print("Detected marker {} at pos {}".format(d.id, (d.x, d.y)))
+                self.outer[d.id] = (d.x, d.y)
+            else:
+                print("Unknown marker!")
+        else:
+            return
+
+        if not None in self.inner.values() and not None in self.outer.values():
+            print("Track marker positions detected!")
+            self.track_complete = True
+
+            self.inner_poly = Polygon(self.inner.values())
+            self.outer_poly = Polygon(self.outer.values())
+
+    def plot_track(self):
+        if self.track_complete:
+            plt.figure(2)
+            x_in, y_in = self.inner_poly.exterior.xy
+            x_out, y_out = self.outer_poly.exterior.xy
+            plt.plot(x_in, y_in)
+            plt.plot(x_out, y_out)
+        else:
+            print("plot is not complete yet!")
+
+
 def f_ode(t, x, u):
     # dynamical model of the two-wheeled robot
     # TODO: find exact values for these parameters
@@ -69,18 +124,21 @@ def f_ode(t, x, u):
 class RemoteController:
     def __init__(self):
 
-        self.robots = [Robot(3, '192.168.1.103')]
+        self.robots = [Robot(15, '192.168.1.103')]
+        #self.robots = [Robot(14, '192.168.1.102')]
 
         self.robot_ids = {}
         for r in self.robots:
             self.robot_ids[r.id] = r
 
-        obst = [Obstacle(6, 0.175), Obstacle(5, 0.175), Obstacle(8, 0.175)]
+        obst = [Obstacle(12, 0.275), Obstacle(10, 0.275), Obstacle(13, 0.275), Obstacle(14, 0.275)]
 
         self.obstacles = {}
         for r in obst:
             self.obstacles[r.id] = r
 
+        self.track = Track()
+
         # connect to robot
         self.rc_socket = socket.socket()
         #self.rc_socket = None
@@ -89,7 +147,7 @@ class RemoteController:
                 self.rc_socket.connect((r.ip, 1234))  # connect to robot
         except socket.error:
             print("could not connect to socket")
-            self.rc_socket = None
+            sys.exit(1)
 
 
         self.t = time.time()
@@ -123,7 +181,10 @@ class RemoteController:
 
         # animation
         self.fig = plt.figure()
-        self.ax = self.fig.add_subplot(1,1,1)
+        self.ax = self.fig.add_subplot(2,2,1)
+        self.ax2 = self.fig.add_subplot(2, 2, 2)
+        self.ax3 = self.fig.add_subplot(2, 2, 4)
+
         self.xdata, self.ydata = [], []
         self.line, = self.ax.plot([],[], color='grey', linestyle=':')
         self.line_sim, = self.ax.plot([], [])
@@ -131,6 +192,12 @@ class RemoteController:
         self.dirm, = self.ax.plot([], [])
         self.dirs, = self.ax.plot([], [])
 
+        self.line_x, = self.ax2.plot([],[])
+        self.line_y, = self.ax3.plot([], [])
+
+        self.track_line_inner, = self.ax.plot([], [])
+        self.track_line_outer, = self.ax.plot([], [])
+
         self.circles = []
         for o in self.obstacles:
             self.circles.append(patch.Circle((0.0, 0.0), radius=0.1, fill=False, color='red', linestyle='--'))
@@ -138,11 +205,20 @@ class RemoteController:
         for s in self.circles:
             self.ax.add_artist(s)
 
-        plt.xlabel('x-position')
-        plt.ylabel('y-position')
-        plt.grid()
+        self.ax.set_xlabel('x-position')
+        self.ax.set_ylabel('y-position')
+        self.ax.grid()
 
-        self.ols = OpenLoopSolver()
+        self.ax2.set_xlabel('Zeit t')
+        self.ax2.set_ylabel('x-position')
+        self.ax2.grid()
+
+        self.ax3.set_xlabel('Zeit t')
+        self.ax3.set_ylabel('y-position')
+        self.ax3.grid()
+
+        self.mstep = 2
+        self.ols = OpenLoopSolver(N=20, T=4.0)
         self.ols.setup()
         self.dt = self.ols.T / self.ols.N
 
@@ -151,9 +227,11 @@ class RemoteController:
         # integrator
         self.r = scipy.integrate.ode(f_ode)
         self.omega_max = 5.0
+        #self.omega_max = 13.32
 
 
     def ani(self):
+        print("starting animation")
         self.ani = anim.FuncAnimation(self.fig, init_func=self.ani_init, func=self.ani_update, interval=10, blit=True)
         plt.ion()
         plt.show(block=True)
@@ -163,7 +241,18 @@ class RemoteController:
         self.ax.set_ylim(-2, 2)
         self.ax.set_aspect('equal', adjustable='box')
 
-        return self.line, self.line_sim, self.dirm, self.dirs, self.line_ol, self.circles[0], self.circles[1],self.circles[2],
+        self.ax2.set_ylim(-2, 2)
+        self.ax2.set_xlim(0, 10)
+
+        self.ax3.set_ylim(-2, 2)
+        self.ax3.set_xlim(0, 10)
+
+        self.track_line_inner.set_data(self.track.inner_poly.exterior.xy)
+        self.track_line_outer.set_data(self.track.outer_poly.exterior.xy)
+
+        return self.line, self.line_sim, self.dirm, self.dirs, self.line_ol,\
+               self.track_line_inner, self.track_line_outer, self.line_x,self.line_y, self.circles[0], self.circles[1],\
+               self.circles[2], self.circles[3],
 
     def ani_update(self, frame):
         #print("plotting")
@@ -187,6 +276,12 @@ class RemoteController:
 
                     self.dirm.set_data(np.array([a, a2]), np.array([b, b2]))
 
+                    n_plot = 300
+                    if len(tm_local) > n_plot:
+                        # plot x and y coordinate
+                        self.line_x.set_data(tm_local[-n_plot:] - (tm_local[-1] - 10), xm_local[-n_plot:,0])
+                        self.line_y.set_data(tm_local[-n_plot:] - (tm_local[-1] - 10), xm_local[-n_plot:, 1])
+
             ts_local = deepcopy(self.ts)
             xs_local = deepcopy(self.xs)
 
@@ -224,9 +319,12 @@ class RemoteController:
         finally:
             self.mutex.release()
 
-        return self.line, self.line_sim, self.dirm, self.dirs, self.line_ol, self.circles[0], self.circles[1],self.circles[2],
+        return self.line, self.line_sim, self.dirm, self.dirs, self.line_ol, self.track_line_inner, self.track_line_outer,\
+               self.line_x, self.line_y, self.circles[0], self.circles[1],self.circles[2],self.circles[3],
 
     def measurement_callback(self, data):
+        #print(data)
+
         # detect robots
         if data.id in self.robot_ids:
             r = self.robot_ids[data.id]
@@ -259,8 +357,26 @@ class RemoteController:
             obst = (data.x, data.y)
             self.obstacles[data.id].pos = obst
 
+        # detect track
+        if data.id in self.track.inner.keys() or data.id in self.track.outer.keys():
+            self.track.set_id(data)
+
     def controller(self):
         print("starting control")
+
+        targets = {}
+        markers_in = self.track.inner.values()
+        markers_out = self.track.outer.values()
+
+        # find targets:
+        lamb = 0.3
+        for i in range(0,4):
+            p = np.array(markers_in[i]) + lamb * (np.array(markers_out[i]) - np.array(markers_in[i]))
+            targets[i] = (p[0],p[1], 0.0)
+
+        auto_control = False
+        current_target = 0
+
         while True:
 
             # open loop controller
@@ -277,21 +393,37 @@ class RemoteController:
                     elif event.key == pygame.K_0:
                         self.target = (0.0, 0.0, 0.0)
                     elif event.key == pygame.K_1:
-                        self.target = (0.5,0.5, -np.pi/2.0)
+                        #self.target = (0.5,0.5, -np.pi/2.0)
+                        self.target = targets[0]
                     elif event.key == pygame.K_2:
-                        self.target = (0.5, -0.5, 0.0)
+                        #self.target = (0.5, -0.5, 0.0)
+                        self.target = targets[1]
                     elif event.key == pygame.K_3:
-                        self.target = (-0.5,-0.5, np.pi/2.0)
+                        #self.target = (-0.5,-0.5, np.pi/2.0)
+                        self.target = targets[2]
                     elif event.key == pygame.K_4:
-                        self.target = (-0.5,0.5, 0.0)
+                        #self.target = (-0.5,0.5, 0.0)
+                        self.target = targets[3]
+                    elif event.key == pygame.K_5:
+                        auto_control = not auto_control
+                        if auto_control:
+                            self.target = targets[current_target]
 
             if self.controlling:
+
                 x_pred = self.get_measurement_prediction()
 
+                if auto_control:
+                    if np.linalg.norm(x_pred[0:2]-np.array(self.target[0:2])) < 0.3:
+                        print("close to target!")
+                        current_target = (current_target + 1) % 4
+                        self.target = targets[current_target]
+                        print("new target = {}".format(current_target))
+
                 tmpc_start = time.time()
 
                 # solve mpc open loop problem
-                res = self.ols.solve(x_pred, self.target, self.obstacles)
+                res = self.ols.solve(x_pred, self.target, self.obstacles, self.track)
 
                 us1 = res[0]
                 us2 = res[1]
@@ -312,18 +444,24 @@ class RemoteController:
                     time.sleep(self.dt - dt_mpc)
 
                 # send controls to the robot
-                for i in range(0, 1): # option to use multistep mpc if len(range) > 1
+                for i in range(0, self.mstep): # option to use multistep mpc if len(range) > 1
                     u1 = us1[i]
                     u2 = us2[i]
                     if self.rc_socket:
                         self.rc_socket.send('({},{})\n'.format(u1, u2))
+                        if i < self.mstep:
+                            time.sleep(self.dt)
                     self.t = time.time() # save time the most recent control was applied
 
     def get_measurement_prediction(self):
         # get measurement
         self.mutex.acquire()
         try:
-            last_measurement = copy.deepcopy(self.xms[-1])
+            window = 3
+            last_measurement = copy.deepcopy(self.xms[-window:])
+            #print("last_measurements = {}".format(last_measurement))
+            #print("mean = {}".format(np.mean(last_measurement, axis=0)))
+            last_measurement = np.mean(last_measurement, axis=0)
             last_time = copy.deepcopy(self.tms[-1])
         finally:
             self.mutex.release()
@@ -349,6 +487,10 @@ def main(args):
     screenwidth = 640
     pygame.display.set_mode([screenwidth, screenheight])
 
+    print("waiting until track is completely detected")
+    while not rc.track.track_complete:
+        pass
+
     #threading.Thread(target=rc.input_handling).start()
     threading.Thread(target=rc.controller).start()