Now using arduino PID library for movements. There probably a better way to use this, but it works for now
EmaMaker
parent
1b2a810ad3
commit
2577cd568c
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@ -0,0 +1,3 @@
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[submodule "lib/Arduino-PID-Library"]
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path = lib/Arduino-PID-Library
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url = https://github.com/br3ttb/Arduino-PID-Library/
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@ -2,11 +2,12 @@
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#include <Arduino.h>
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#include "motor.h"
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#include "PID_v1.h"
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//PID Constants
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#define KP 2.1
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#define KI 0
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#define KD 0.05
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#define KP 1.2
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#define KI 0.0
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#define KD 0.25
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#define UNLOCK_THRESH 800
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@ -32,8 +33,11 @@ class DriveController{
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Motor* m2;
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Motor* m3;
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Motor* m4;
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PID* pid;
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int pDir, pSpeed, pTilt;
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float speed1, speed2, speed3, speed4, errorePre, integral, pidfactor, errorP, errorD, errorI, delta;
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int gDir, gSpeed, gTilt;
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int speed1, speed2, speed3, speed4, errorePre, integral, pidfactor, errorP, errorD, errorI, delta;
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double input, output, setpoint;
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int vx, vy;
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float sins[360], cosins[360];
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@ -0,0 +1 @@
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Subproject commit 9b4ca0e5b6d7bab9c6ac023e249d6af2446d99bb
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@ -15,6 +15,9 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
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pDir = 0;
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pSpeed = 0;
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pTilt = 0;
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gDir = 0;
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gSpeed = 0;
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gTilt = 0;
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vx = 0;
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vy = 0;
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@ -24,14 +27,15 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
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speed3 = 0;
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speed4 = 0;
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pid = new PID(&input, &output, &setpoint, (double)KP, (double)KI, (double)KD, P_ON_M, REVERSE);
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delta = 0;
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errorP = 0;
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errorI = 0;
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errorD = 0;
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errorePre = 0;
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pidfactor = 0;
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integral = 0;
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input = 0;
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output = 0;
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setpoint = 0;
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pid->SetMode(AUTOMATIC);
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pid->SetSampleTime(2);
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canUnlock = true;
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unlockTime = 0;
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@ -50,6 +54,7 @@ void DriveController::prepareDrive(int dir, int speed, int tilt){
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void DriveController::prepareDrive(int dir, int speed){
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pDir = dir;
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pSpeed = speed;
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pDir = gTilt;
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}
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void DriveController::drivePrepared(){
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@ -61,6 +66,10 @@ float DriveController::torad(float f){
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}
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void DriveController::drive(int dir, int speed, int tilt){
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gDir = dir;
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gSpeed = speed;
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gTilt = tilt;
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vx = ((speed * cosins[dir]));
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vy = ((-speed * sins[dir]));
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@ -80,22 +89,21 @@ void DriveController::drive(int dir, int speed, int tilt){
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speed4 = -(speed2);
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// calcola l'errore di posizione rispetto allo 0
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delta = compass->getValue();
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if(delta > 180) delta = delta-360;
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delta = delta - tilt;
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delta = (compass->getValue()-tilt+360)%360;
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;
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setpoint = 0;
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pid->SetControllerDirection(REVERSE);
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// calcola correzione proporzionale
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errorP = KP * delta;
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if(delta > 180) {
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setpoint = 359;//delta = delta-360;
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pid->SetControllerDirection(DIRECT);
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}
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// calcola correzione derivativa
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errorD = KD * (delta - errorePre);
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errorePre = delta;
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input = delta;
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// calcola correzione integrativa
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integral = 0.5 * integral + delta;
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errorI = KI * integral;
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// calcota correzione complessiva
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pidfactor = errorD + errorP + errorI;
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pid->Compute();
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pidfactor = delta > 180 ? output*-1 : output;
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speed1 += pidfactor;
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speed2 += pidfactor;
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@ -0,0 +1,117 @@
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# color tracking with conic mirror - By: EmaMaker - wed 15 jan 2020
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# Based on:
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# color tracking - By: paolix - ven mag 18 2018
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# Automatic RGB565 Color Tracking Example
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#
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import sensor, image, time, pyb, math
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from pyb import UART
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uart = UART(3,19200, timeout_char = 1000)
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# LED Setup ##################################################################
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red_led = pyb.LED(1)
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green_led = pyb.LED(2)
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blue_led = pyb.LED(3)
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red_led.off()
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green_led.off()
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blue_led.on()
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##############################################################################
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#thresholds = [ (30, 100, 15, 127, 15, 127), # generic_red_thresholds
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# (30, 100, -64, -8, -32, 32), # generic_green_thresholds
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# (0, 15, 0, 40, -80, -20)] # generic_blue_thresholds
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#thresholds = [ (54, 93, -10, 25, 55, 70), # thresholds yellow goal
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# (30, 45, 1, 40, -60, -19)] # thresholds blue goal
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#
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thresholds = [ (30, 70, -12, 19, 41, 68) , # thresholds yellow goal
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(0, 70, -2, 34, -59, -21)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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roi = (0, 6, 318, 152)
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# Camera Setup ###############################################################
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'''sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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sensor.skip_frames(time = 2000)
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sensor.set_auto_gain(False) # must be turned off for color tracking
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sensor.set_auto_whitebal(False) # must be turned off for color tracking
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sensor.set_auto_exposure(False, 10000)
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#sensor.set_backlight(1)
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#sensor.set_brightness(+2)
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#sensor.set_windowing(roi)
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clock = time.clock()'''
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QQVGA)
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sensor.set_contrast(+2)
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sensor.set_saturation(+1)
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sensor.set_brightness(-3)
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sensor.set_quality(0)
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sensor.set_auto_exposure(False, 6000)
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sensor.set_auto_gain(True)
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sensor.skip_frames(time = 300)
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clock = time.clock()
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##############################################################################
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# [] list
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# () tupla
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'''while(True):
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clock.tick()
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img = sensor.snapshot()'''
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while(True):
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clock.tick()
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blue_led.off()
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tt_yellow = [(0,999,0,1)] ## creo una lista di tuple per il giallo, valore x = 999 : non trovata
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tt_blue = [(0,999,0,2)] ## creo una lista di tuple per il blue, valore x = 999 : non trovata
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img = sensor.snapshot()
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for blob in img.find_blobs(thresholds, pixels_threshold=100, area_threshold=150, merge = True):
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img.draw_rectangle(blob.rect())
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img.draw_cross(blob.cx(), blob.cy())
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if (blob.code() == 1):
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tt_yellow = tt_yellow + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
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if (blob.code() == 2):
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tt_blue = tt_blue + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
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tt_yellow.sort(key=lambda tup: tup[0]) ## ordino le liste
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tt_blue.sort(key=lambda tup: tup[0]) ## ordino le liste
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ny = len(tt_yellow)
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nb = len(tt_blue)
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'''Yellow'''
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area,cx,cy,code = tt_yellow[ny-1] # coordinata x del piu' grande y se montata al contrario
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cx = img.width() / 2 - cx
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cy = img.height() / 2 - cy
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angle = math.pi/2 - math.atan2(cy, cx)
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dist = math.sqrt(cx*cx + cy*cy)
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string_yellow = "Y"+str(cx)+" | "+str(cy)+" | "+str(angle)+" | "+str(dist)+str(area)+"y"
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print (string_yellow) # test on serial terminal
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'''Blue'''
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area,cx,cy,code = tt_blue[nb-1] # coordinata x del piu' grande y se montata al contrario
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cx = img.width() / 2 - cx
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cy = img.height() / 2 - cy
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angle = math.pi/2 - math.atan2(cy, cx)
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dist = math.sqrt(cx*cx + cy*cy)
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string_blue = "B"+str(cx)+" | "+str(cy)+" | |"+str(angle)+" | "+str(dist)+str(area)+"b"
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print (string_blue) # test on serial terminal
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#print ("..................................")
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print(clock.fps())
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