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functions.py
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functions.py
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#!/usr/bin/env python3
# File name : servo.py
# Description : Control Functions
# Author : William
# Date : 2020/03/17
import time
import RPi.GPIO as GPIO
import threading
from mpu6050 import mpu6050
import Adafruit_PCA9685
import os
import json
import ultra
import Kalman_filter
import move
move.setup()
kalman_filter_X = Kalman_filter.Kalman_filter(0.01,0.1)
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
MPU_connection = 1
try:
sensor = mpu6050(0x68)
print('mpu6050 connected, PT MODE ON')
except:
MPU_connection = 0
print('mpu6050 disconnected, ARM MODE ON')
curpath = os.path.realpath(__file__)
thisPath = "/" + os.path.dirname(curpath)
def num_import_int(initial): #Call this function to import data from '.txt' file
global r
with open(thisPath+"/RPIservo.py") as f:
for line in f.readlines():
if(line.find(initial) == 0):
r=line
begin=len(list(initial))
snum=r[begin:]
n=int(snum)
return n
pwm0_direction = 1
pwm0_init = num_import_int('init_pwm0 = ')
pwm0_max = 520
pwm0_min = 100
pwm0_pos = pwm0_init
pwm1_direction = 1
pwm1_init = num_import_int('init_pwm1 = ')
pwm1_max = 520
pwm1_min = 100
pwm1_pos = pwm1_init
pwm2_direction = 1
pwm2_init = num_import_int('init_pwm2 = ')
pwm2_max = 520
pwm2_min = 100
pwm2_pos = pwm2_init
line_pin_right = 19
line_pin_middle = 16
line_pin_left = 20
mark_automatic = 0
def pwmGenOut(angleInput):
return int(round(23/9*angleInput))
def setup():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(line_pin_right,GPIO.IN)
GPIO.setup(line_pin_middle,GPIO.IN)
GPIO.setup(line_pin_left,GPIO.IN)
class Functions(threading.Thread):
def __init__(self, *args, **kwargs):
self.functionMode = 'none'
self.steadyGoal = 0
self.scanNum = 3
self.scanList = [0,0,0]
self.scanPos = 1
self.scanDir = 1
self.rangeKeep = 0.7
self.scanRange = 100
self.scanServo = 1
self.turnServo = 0
self.turnWiggle = 200
setup()
super(Functions, self).__init__(*args, **kwargs)
self.__flag = threading.Event()
self.__flag.clear()
def radarScan(self):
global pwm0_pos
scan_speed = 3
result = []
if pwm0_direction:
pwm0_pos = pwm0_max
pwm.set_pwm(1, 0, pwm0_pos)
time.sleep(0.8)
while pwm0_pos>pwm0_min:
pwm0_pos-=scan_speed
pwm.set_pwm(1, 0, pwm0_pos)
dist = ultra.checkdist()
if dist > 20:
continue
theta = 180 - (pwm0_pos-100)/2.55 # +30 deviation
result.append([dist, theta])
else:
pwm0_pos = pwm0_min
pwm.set_pwm(1, 0, pwm0_pos)
time.sleep(0.8)
while pwm0_pos<pwm0_max:
pwm0_pos+=scan_speed
pwm.set_pwm(1, 0, pwm0_pos)
dist = ultra.checkdist()
if dist > 20:
continue
theta = (pwm0_pos-100)/2.55
result.append([dist, theta])
pwm.set_pwm(1, 0, pwm0_init)
return result
def pause(self):
self.functionMode = 'none'
move.move(80, 'no', 'no', 0.5)
self.__flag.clear()
def resume(self):
self.__flag.set()
def automatic(self):
self.functionMode = 'Automatic'
self.resume()
def steady(self,goalPos):
self.functionMode = 'Steady'
self.steadyGoal = goalPos
self.resume()
def trackLine(self):
self.functionMode = 'trackLine'
self.resume()
def trackLineProcessing(self):
status_right = GPIO.input(line_pin_right)
status_middle = GPIO.input(line_pin_middle)
status_left = GPIO.input(line_pin_left)
#print('R%d M%d L%d'%(status_right,status_middle,status_left))
if status_middle == 1:
move.move(100, 'forward', 'no', 1)
elif status_left == 1:
move.move(100, 'no', 'right', 1)
elif status_right == 1:
move.move(100, 'no', 'left', 1)
else:
move.move(100, 'backward', 'no', 1)
time.sleep(0.1)
def automaticProcessing(self):
global mark_automatic
# print('automaticProcessing')
if self.rangeKeep/3 > ultra.checkdist():
move.move(100, 'backward', 'no', 0.5)
if mark_automatic != 1:
# print(ultra.checkdist())
print("backward")
mark_automatic = 1
elif self.rangeKeep > ultra.checkdist():
move.move(100, 'no', 'left', 0.5)
if mark_automatic != 2:
# print(ultra.checkdist())
print("left")
else:
move.move(100, 'forward', 'no', 0.5)
if mark_automatic != 3:
# print(ultra.checkdist())
print("forward")
mark_automatic = 3
time.sleep(0.1)
if self.functionMode == 'none':
move.move(80, 'no', 'no', 0.5)
print("stop")
def steadyProcessing(self):
print('steadyProcessing')
xGet = sensor.get_accel_data()
print(xGet)
xGet = xGet['x']
xOut = kalman_filter_X.kalman(xGet)
pwm.set_pwm(4, 0, self.steadyGoal+pwmGenOut(xOut*9))
# pwm.set_pwm(2, 0, self.steadyGoal+pwmGenOut(xGet*10))
time.sleep(0.05)
def functionGoing(self):
if self.functionMode == 'none':
self.pause()
elif self.functionMode == 'Automatic':
self.automaticProcessing()
elif self.functionMode == 'Steady':
self.steadyProcessing()
elif self.functionMode == 'trackLine':
self.trackLineProcessing()
def run(self):
while 1:
self.__flag.wait()
self.functionGoing()
pass
if __name__ == '__main__':
pass
fuc=Functions()
# fuc.radarScan()
fuc.start()
# fuc.automatic()
fuc.steady(300)
while 1:
time.sleep(10)
# time.sleep(30)
# fuc.pause()
# time.sleep(1)
# move.move(80, 'no', 'no', 0.5)