merge 24

arduino/arduino.ino

@@ -0,0 +1,113 @@
+#include <stdint.h>
+#include <Encoder.h>
+
+// Pin definitions
+const uint8_t MOTOR_DRIVER = 0; // 0 = MC33926
+const uint8_t MOTOR_IN1 = 1; // which way to go
+const uint8_t MOTOR_IN2 = 2;
+const uint8_t MOTOR_D2 = A3; // how fast to go
+
+// uint8_t MOTOR_DRIVER = 1 // 1 = TB9051-FTG
+uint8_t PWM1 = 0;
+uint8_t PWM2 = 0;
+
+const uint8_t MOTOR_ENC_A = 9;
+const uint8_t MOTOR_ENC_B = 10;
+
+const uint8_t PENDULUM_ENC_A = 7;
+const uint8_t PENDULUM_ENC_B = 8;
+
+const float MOTOR_ENCODER_CPR = 211.2;
+const float PENDULUM_ENCODER_CPR = 8192;
+
+Encoder motorEncoder(MOTOR_ENC_A, MOTOR_ENC_B);
+Encoder pendulumEncoder(PENDULUM_ENC_A, PENDULUM_ENC_B);
+
+
+void processMotorCommand(int16_t motor_command) {
+  // clamp motor command between -255 and 255
+  if (motor_command > 255) {
+    motor_command = 255;
+  }
+  else if (motor_command < -255) {
+    motor_command = -255;
+  }
+
+  // TODO deadzone
+  uint8_t scale_motor_command = 0;
+  if (motor_command != 0){
+    scale_motor_command = int(0.3 * 255 + 0.7 * abs(motor_command));
+  }
+
+  if (MOTOR_DRIVER == 0) { // MC33926
+    if (motor_command > 0) {
+      digitalWrite(MOTOR_IN1, LOW);
+      digitalWrite(MOTOR_IN2, HIGH);
+    }
+    else {
+      digitalWrite(MOTOR_IN1, HIGH);
+      digitalWrite(MOTOR_IN2, LOW);
+    }
+    analogWrite(MOTOR_D2, scale_motor_command);
+  }
+  else if (MOTOR_DRIVER == 1) { // TB9051-FTG
+    if (motor_command > 0) {
+      analogWrite(PWM1, scale_motor_command);
+      analogWrite(PWM2, 0);
+    }
+    else {
+      analogWrite(PWM1, 0);
+      analogWrite(PWM2, scale_motor_command);
+    }
+  }
+}
+
+
+void setup() {
+  // setup motor pins
+  if (MOTOR_DRIVER == 0) { // MC33926
+    pinMode(MOTOR_IN1, OUTPUT);
+    pinMode(MOTOR_IN2, OUTPUT);
+    pinMode(MOTOR_D2, OUTPUT);
+  }
+  else if (MOTOR_DRIVER == 1) { // TB9051-FTG
+    pinMode(PWM1, OUTPUT);
+    pinMode(PWM2, OUTPUT);
+  }
+  analogWriteResolution(8);
+
+  // setup serial
+  Serial.begin(57600);
+}
+
+
+void loop() {
+  // if at least two bytes (== one motor command)
+  // in the serial buffer
+  if (Serial.available() >= 2){
+    // read the two bytes
+    uint8_t low_byte = Serial.read();
+    uint8_t high_byte = Serial.read();
+    // combine the two bytes to one int16_t
+    int16_t motor_command = (high_byte << 8) | low_byte;
+    // process the motor command
+    processMotorCommand(motor_command);
+
+    // read the motor and pendulum encoder values
+    // convert to angles in radians
+    // and send them back as two floats
+
+    // read the motor and pendulum encoder values
+    long motorEncoderValue = motorEncoder.read();
+    long pendulumEncoderValue = pendulumEncoder.read();
+
+    // convert to angles in radians
+    float motorAngle = (2 * PI * motorEncoderValue) / MOTOR_ENCODER_CPR;
+    float pendulumAngle = (2 * PI * pendulumEncoderValue) / PENDULUM_ENCODER_CPR;
+
+    // send them back as two floats
+    Serial.write((uint8_t*)&motorAngle, sizeof(motorAngle));
+    Serial.write((uint8_t*)&pendulumAngle, sizeof(pendulumAngle));
+  }
+
+}

furuta-gym/furuta_gym/envs/furuta_base.py → furuta_gym/envs/furuta_base.py

@@ -4,9 +4,10 @@
 
 import gym
 import numpy as np
-from furuta_gym.utils import ALPHA, ALPHA_DOT, THETA, THETA_DOT, Timing
 from gym.spaces import Box
 
+from furuta_gym.utils import ALPHA, ALPHA_DOT, THETA, THETA_DOT, Timing
+
 
 def alpha_reward(state):
     try: