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uasdriver.py
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import time
import sys
import drive
import math
import logging
import odroid_wiringpi as wpi
sys.path.append('./aeac_controls_2022/')
from pwm import PWM
from constants import *
from motor_specs import MOTORS
from TB9051FTG import TB9051FTG
from PCA9685 import PCA9685
from utils import remap_range
from PID_controller import PID
from encoder import Encoder
logging.getLogger("Adafruit_I2C.Device.Bus.{0}.Address.{1:#0X}".format(0, 0X40)).setLevel(logging.WARNING)
logging.basicConfig(level=logging.DEBUG)
uaslog = logging.getLogger("UASlogger")
PIN_A = 27
PIN_B = 23
PIN_X = 26
PIN_Y = 10
PIN_LJSX = 25
PIN_LJSY = 29
class UASDriver:
def __init__(self):
uaslog.info("Starting Motor Drive System init...")
############################
# INIT MOTOR TARGET VALUES #
############################
self.target_pololu = [0, 0, 0, 0, 0] # p0, p1, p2, p3, p4 = [w, fl, fr, rl, rr]
self.target_actuator = [0, 30] # a1, a2, a3, a4 = [vertical, horizontal]
self.target_turnigy = [0] #t1, t2 = [in/out]
self.button_pressed = [0, 0, 0, 1] # A B X Y
self.ljs_pressed = False
self.plate_closed = False
self.mode = DriverControlMode.IDLE
######################
# INIT REMOTE VALUES #
######################
self.buttonA = 1
self.buttonB = 1
self.buttonX = 1
self.buttonY = 1
self.ljs_x = 0.0
self.ljs_y = 0.0
self.ljs_sw = 1
self.rjs_x = 0.0
self.rjs_y = 0.0
self.rjs_sw = 1
##################
# INIT GPIO PINS #
##################
self.init_gpio()
############
# INIT PWM #
############
uaslog.debug("Init PWM...")
self.pwm = PWM(address=I2C_CHIP, busnum=I2C_BUS, debug=False)
self.pwm.setPWMFreq(FREQUENCY)
###############
# INIT MOTORS #
###############
uaslog.debug("Init Motors...")
# ACTUATORS
# vertical left
self.actuonix_1 = PCA9685(channel=CHANNEL8, freq=300)
self.actuonix_1.reset(self.pwm)
self.actuonix_1.setPWM(self.pwm, dutycycle=30)
# vertical right
self.actuonix_2 = PCA9685(channel=CHANNEL9, freq=300)
self.actuonix_2.reset(self.pwm)
self.actuonix_2.setPWM(self.pwm, dutycycle=30)
# horizontal, start open
self.actuonix_3 = PCA9685(channel=CHANNEL10, freq=300)
self.actuonix_3.reset(self.pwm)
self.actuonix_3.setPWM(self.pwm, dutycycle=60)
# self.actuonix_4 = PCA9685(channel=CHANNEL11, freq=300)
# self.actuonix_4.reset(self.pwm)
# self.actuonix_4.setPWM(self.pwm, dutycycle=30)
# # SERVO
# self.turnigy_1 = PCA9685(channel=CHANNEL12, freq=300)
# self.turnigy_1.reset(self.pwm)
# self.turnigy_1.setPWM(self.pwm, dutycycle=28)
# self.turnigy_2 = PCA9685(channel=CHANNEL13, freq=300)
# self.turnigy_2.reset(self.pwm)
# self.turnigy_2.setPWM(self.pwm, dutycycle=28)
# DC BRUSHED
# self.pololu_0 = TB9051FTG(channel=CHANNEL0, freq=300, pin_in=MOTORS["pololu_0"]["enc_pins"], pin_out=MOTORS["pololu_0"]["driver_pins"], single=True)
# self.pololu_0.reset(self.pwm)
self.pololu_1 = TB9051FTG(channel=CHANNEL4, freq=300, pin_in=MOTORS["pololu_1"]["enc_pins"], pin_out=MOTORS["pololu_1"]["driver_pins"])
self.pololu_1.reset(self.pwm)
self.pololu_2 = TB9051FTG(channel=CHANNEL5, freq=300, pin_in=MOTORS["pololu_2"]["enc_pins"], pin_out=MOTORS["pololu_2"]["driver_pins"])
self.pololu_2.reset(self.pwm)
self.pololu_3 = TB9051FTG(channel=CHANNEL6, freq=300, pin_in=MOTORS["pololu_3"]["enc_pins"], pin_out=MOTORS["pololu_3"]["driver_pins"])
self.pololu_3.reset(self.pwm)
self.pololu_4 = TB9051FTG(channel=CHANNEL7, freq=300, pin_in=MOTORS["pololu_4"]["enc_pins"], pin_out=MOTORS["pololu_4"]["driver_pins"])
self.pololu_4.reset(self.pwm)
# INIT PID CONTROLLERS
uaslog.debug("Init PID controllers...")
self.pid_1 = PID(MOTORS["pololu_1"]["enc_pins"])
self.pid_2 = PID(MOTORS["pololu_2"]["enc_pins"])
self.pid_3 = PID(MOTORS["pololu_3"]["enc_pins"])
self.pid_4 = PID(MOTORS["pololu_4"]["enc_pins"])
uaslog.info("Motor Drive System init complete! Starting main routine...")
# self.controlLoop()
def setRemoteValues(self, buttonA, buttonB, buttonX, buttonY, ljs_x, ljs_y, ljs_sw, rjs_x, rjs_y, rjs_sw):
# joystick movement tolerance
if ljs_x < THRESHOLD_HIGH and ljs_x > THRESHOLD_LOW:
ljs_x = 0.0
if ljs_y < THRESHOLD_HIGH and ljs_y > THRESHOLD_LOW:
ljs_y = 0.0
if rjs_x < THRESHOLD_HIGH and rjs_x > THRESHOLD_LOW:
rjs_x = 0.0
self.buttonA = buttonA
self.buttonB = buttonB
self.buttonX = buttonX
self.buttonY = buttonY
self.ljs_x = ljs_x
self.ljs_y = ljs_y
self.ljs_sw = ljs_sw
self.rjs_x = rjs_x
self.rjs_y = rjs_y
self.rjs_sw = rjs_sw
uaslog.debug(f"lSW: {ljs_sw}, lX: {ljs_x}, lY: {ljs_y}, rX: {rjs_x}")
def updatePosCallback(self, pos):
uaslog.info("New position: {}".format(pos))
def controlLoop(self):
uaslog.info("Starting Control Loop.")
try:
while True:
# NOTE: remote control values are set in the main thread
# raw_ljs_x = wpi.analogRead(PIN_LJSX)
# raw_ljs_y = wpi.analogRead(PIN_LJSY)
# self.ljs_x, self.ljs_y = remap_range(raw_ljs_x, raw_ljs_y)
# if self.ljs_y < THRESHOLD_HIGH and self.ljs_y > THRESHOLD_LOW:
# self.ljs_y = 0.0
# if self.ljs_x < THRESHOLD_HIGH and self.ljs_x > THRESHOLD_LOW:
# self.ljs_x = 0.0
# button debouncing detection
while not self.buttonA:
self.button_pressed = [1, 0, 0, 0]
uaslog.info("DRIVE MODE")
while not self.buttonB:
self.button_pressed = [0, 1, 0, 0]
uaslog.info("WINCH MODE")
while not self.buttonX:
self.button_pressed = [0, 0, 1, 0]
uaslog.info("CLAW MODE")
while not self.buttonY:
self.button_pressed = [0, 0, 0, 1]
uaslog.info("IDLE MODE")
while not self.ljs_sw:
self.ljs_pressed = True
# mode assignment
if self.button_pressed[0]:
self.mode = DriverControlMode.DRIVE
elif self.button_pressed[1]:
self.mode = DriverControlMode.WINCH
elif self.button_pressed[2]:
self.mode = DriverControlMode.CLAW
elif self.button_pressed[3]:
self.mode = DriverControlMode.IDLE
else:
uaslog.error("ERROR: mode not recognized :(")
# move according to mode and joystick ctrls
if self.mode == DriverControlMode.IDLE:
# uaslog.debug("idle")
# reset all pololu motors to prevent buzzing
self.pololu_1.reset(self.pwm)
self.pololu_2.reset(self.pwm)
self.pololu_3.reset(self.pwm)
self.pololu_4.reset(self.pwm)
elif self.mode == DriverControlMode.DRIVE:
# uaslog.debug("drive")
self.target_pololu = drive.setMotorTargets(self.ljs_x, self.ljs_y, self.rjs_x, self.target_pololu)
uaslog.debug(f"target: {self.target_pololu}")
uaslog.debug(f"pos: {[0.0, self.pid_1.getDc(), self.pid_2.getDc(), self.pid_3.getDc(), self.pid_4.getDc()]}")
self.pid_1.loop(round(self.target_pololu[1]))
self.pid_2.loop(round(self.target_pololu[2]))
self.pid_3.loop(round(self.target_pololu[3]))
self.pid_4.loop(round(self.target_pololu[4]))
# signal the motors
if self.pid_1.getDir() == -1:
self.pololu_1.forward(self.pwm, dutycycle=self.pid_1.getDc())
elif self.pid_1.getDir() == 1:
self.pololu_1.backward(self.pwm, dutycycle=self.pid_1.getDc())
if self.pid_2.getDir() == -1:
self.pololu_2.forward(self.pwm, dutycycle=self.pid_2.getDc())
elif self.pid_2.getDir() == 1:
self.pololu_2.backward(self.pwm, dutycycle=self.pid_2.getDc())
if self.pid_3.getDir() == -1:
self.pololu_3.forward(self.pwm, dutycycle=self.pid_3.getDc())
elif self.pid_3.getDir() == 1:
self.pololu_3.backward(self.pwm, dutycycle=self.pid_3.getDc())
if self.pid_4.getDir() == -1:
self.pololu_4.forward(self.pwm, dutycycle=self.pid_4.getDc())
elif self.pid_4.getDir() == 1:
self.pololu_4.backward(self.pwm, dutycycle=self.pid_4.getDc())
elif self.mode == DriverControlMode.WINCH:
# uaslog.debug("winch")
# reset all pololu motors to prevent buzzing
self.pololu_1.reset(self.pwm)
self.pololu_2.reset(self.pwm)
self.pololu_3.reset(self.pwm)
self.pololu_4.reset(self.pwm)
# if self.ljs_y > THRESHOLD_HIGH + 0.1:
# self.pololu_0.forward(self.pwm, dutycycle=WINCH_DC_SPEED)
# elif self.ljs_y < THRESHOLD_LOW - 0.1:
# self.pololu_0.backward(self.pwm, dutycycle=WINCH_DC_SPEED)
# else:
# self.pololu_0.backward(self.pwm, dutycycle=0)
elif self.mode == DriverControlMode.CLAW:
# uaslog.debug("claw")
# reset all pololu motors to prevent buzzing
self.pololu_1.reset(self.pwm)
self.pololu_2.reset(self.pwm)
self.pololu_3.reset(self.pwm)
self.pololu_4.reset(self.pwm)
# VERTICAL ACTUATORS
uaslog.debug(f"DC1: {self.target_actuator[0]}, DC2: {self.target_actuator[1]}")
# not allowed: dc 30 & y+, dc 0 and y-
if not ((math.ceil(self.target_actuator[0]) >= ACTUATOR_DC_MIN and self.ljs_y < THRESHOLD_LOW) or (math.floor(self.target_actuator[0]) == 0 and self.ljs_y > THRESHOLD_HIGH)):
self.target_actuator[0] -= self.ljs_y
self.actuonix_1.setPWM(self.pwm, dutycycle=self.target_actuator[0]+30)
self.actuonix_2.setPWM(self.pwm, dutycycle=self.target_actuator[0]+30)
time.sleep(0.08)
# HORIZONTAL ACTUATORS
# not allowed: dc 30 & x+, dc 0 and x-
if not ((math.ceil(self.target_actuator[1]) >= ACTUATOR_DC_MIN and self.ljs_x < THRESHOLD_LOW) or (math.floor(self.target_actuator[1]) == 0 and self.ljs_x > THRESHOLD_HIGH)):
self.target_actuator[1] -= self.ljs_x
self.actuonix_3.setPWM(self.pwm, dutycycle=self.target_actuator[1] + ACTUATOR_DC_MIN)
# self.actuonix_4.setPWM(self.pwm, dutycycle=self.target_actuator[1] + ACTUATOR_DC_MIN)
time.sleep(0.08)
# if self.ljs_pressed:
# if self.plate_closed:
# self.plate_closed = False
# self.turnigy_1.setPWM(self.pwm, dutycycle=MOTORS["turnigy_1"]["dc_low"])
# self.turnigy_2.setPWM(self.pwm, dutycycle=MOTORS["turnigy_1"]["dc_low"])
# elif not self.plate_closed:
# self.plate_closed = True
# self.turnigy_1.setPWM(self.pwm, dutycycle=MOTORS["turnigy_1"]["dc_high"])
# self.turnigy_2.setPWM(self.pwm, dutycycle=MOTORS["turnigy_1"]["dc_high"])
# self.ljs_pressed = False
else:
uaslog.error("Mode not recognized :(")
except KeyboardInterrupt:
self.cleanup()
sys.exit(0)
def init_gpio(self):
uaslog.info("Init GPIO...")
# unexport pins
for pin in range(0, 256):
file = open("/sys/class/gpio/unexport","w")
file.write(str(pin))
# setup wpi
wpi.wiringPiSetup()
# set pin mode
for pin in GPIO_IN:
wpi.pinMode(pin, wpi.INPUT)
wpi.pullUpDnControl(pin, wpi.GPIO.PUD_UP)
for pin in GPIO_OUT:
wpi.pinMode(pin, wpi.OUTPUT)
# init out pins low
wpi.digitalWrite(pin, 0)
uaslog.info("Init GPIO complete!")
def cleanup(self):
uaslog.info("Cleaning up driver system...")
# reset motors
self.actuonix_1.reset(self.pwm)
self.actuonix_2.reset(self.pwm)
self.actuonix_3.reset(self.pwm)
# self.actuonix_4.reset(self.pwm)
# self.turnigy_1.reset(self.pwm)
# self.turnigy_2.reset(self.pwm)
# self.pololu_0.reset(self.pwm)
self.pololu_1.reset(self.pwm)
self.pololu_2.reset(self.pwm)
self.pololu_3.reset(self.pwm)
self.pololu_4.reset(self.pwm)
# unexport pins
for pin in range(0, 256):
file = open("/sys/class/gpio/unexport","w")
file.write(str(pin))
uaslog.info("Driver system cleanup complete!")
def main():
test = UASDriver()
test.controlLoop()
if __name__ == "__main__":
main()