Changeset 739 for trunk

Timestamp:

06/04/10 17:05:17 (20 months ago)

Author:

mosttw

Message:

More work on motor controllers and updated rbconfig

Location:

trunk/software

Files:

• Makefile (modified) (1 diff)
• rb/can.py (modified) (7 diffs)
• rbconfig.py (modified) (4 diffs)

trunk/software/Makefile

@@ -27 +27 @@
         scripts/calib/calibrate.py
 
+test-images: all rb/vision/_processing.c
+        rm -f test-images/*.out.png test-images/*.json
+        rm -f test-images2/*.out.png test-images2/*.json
+        rm -f test-images3/*.out.png test-images/*.json
+        ./test_vision.py test-images/*.{jpeg,jpg}
+        ./test_vision.py test-images2/*.png
+        ./test_vision.py test-images3/*.jpg

trunk/software/rb/can.py

@@ -37 +37 @@
 SYS_API_ENUMERATION = 9
 SYS_API_SYSTEM_RESUME = 10
+
+# Manufacturer IDs
+MANF_BROADCAST = 0
+MANF_NATIONAL_INSTURMENTS = 1
+MANF_TEXAS_INSTURMENTS = 2
+MANF_DEKA = 3
 
 logger = logging.getLogger('rb.can')
@@ -138 +144 @@
 API_ACKNOWLEDGE = 6
 
-MANF_BROADCAST = 0
-MANF_NATIONAL_INSTURMENTS = 1
-MANF_TEXAS_INSTURMENTS = 2
-MANF_DEKA = 3
-
 VOLTAGE_MODE_ENABLE = 0
 VOLTAGE_MODE_DISABLE = 1
 VOLTAGE_SET = 2
 VOLTAGE_RAMP_SET = 3
+# The voltage is a 16-bit signed integer, so +-VOLTAGE_MAX is the usable
+# range.
+VOLTAGE_MAX = 0xffff / 2
 
 SPEED_MODE_ENABLE = 0
@@ -167 +171 @@
 
 class JaguarDrive(object):
-    def __init__(self, can_bus):
+    def __init__(self, can_bus, mode='voltage'):
         assert can_bus is not None
         self.can_bus = can_bus
-        self.left_controller_nums = [2, 3]
+        self.left_controller_nums = [2, 3, 6]
         self.right_controller_nums = [4, 5]
         self.controller_nums = (self.left_controller_nums +
                                 self.right_controller_nums)
-        self.init_controllers()
-
-    def init_controllers(self):
+        if mode == 'speed':
+            self.init_speed_control()
+
+    def init_speed_control(self):
         # Configure encoder lines
         for num in self.controller_nums:
@@ -218 +223 @@
             self.can_bus.send(id)
     
-    def setspeed(self, lspeed, rspeed):
+    def setspeed(self, lvalue, rvalue):
         '''
         Set the target speed of the wheels.
         '''
-        # TODO: Adjust lspeed and rspeed based on wheel diameter,
-        # and encoder gear ratio
+        assert lvalue <= 1.0
+        assert lvalue >= -1.0
+        assert rvalue <= 1.0
+        assert rvalue >= -1.0
+
+        self.set_voltage(lvalue, rvalue)
+
+    def set_voltage(self, lvoltage, rvoltage):
+        '''
+        Set the left and right voltages, as floats from -1 to 1.
+        '''
+        assert lvoltage <= 1.0
+        assert lvoltage >= -1.0
+        assert rvoltage <= 1.0
+        assert rvoltage >= -1.0
+
+        lvalue = struct.pack('<h', int(lvoltage * VOLTAGE_MAX))
+        rvalue = struct.pack('<h', int(rvoltage * VOLTAGE_MAX))
 
         for num in self.left_controller_nums:
             id = build_can_id(
+                api_class=API_VOLTAGE_CONTROL,
+                api_index=VOLTAGE_SET,
+                device_number=num
+            )
+            self.can_bus.send(id, lvalue)
+
+        for num in self.right_controller_nums:
+            id = build_can_id(
+                api_class=API_VOLTAGE_CONTROL,
+                api_index=VOLTAGE_SET,
+                device_number=num
+            )
+            self.can_bus.send(id, rvalue)
+
+    def set_speed(self, lspeed, rspeed):
+        '''
+        Set the target speed of the left and right wheels, as floats
+        from -1 to 1.
+        '''
+
+        for num in self.left_controller_nums:
+            id = build_can_id(
                 api_class=API_SPEED_CONTROL,
                 api_index=SPEED_SET,
@@ -241 +284 @@
             self.can_bus.send(id, float_to_fixed1616(rspeed))
 
-if __name__ == '__main__':
+def demo():
     import time
     bus = CANBus('/dev/ttyS0')
@@ -251 +294 @@
             api_class=API_VOLTAGE_CONTROL,
             api_index=VOLTAGE_SET,
-            device_number=1)
+            device_number=6)
     try:
         print "Ramping up"
         for dc in range(0, 32767, 10):
-            #bus.send(heartbeat_can_id, '')
+            bus.send(heartbeat_can_id, '')
             bus.send(set_voltage_can_id, struct.pack('<h', dc))
             time.sleep(0.05)
@@ -265 +308 @@
         print "Ramping down"
     for dc in range(32767, 0, -10):
-        #bus.send(heartbeat_can_id, '')
+        bus.send(heartbeat_can_id, '')
         bus.send(set_voltage_can_id, struct.pack('<h', dc))
         time.sleep(0.05)
 
+if __name__ == '__main__':
+    demo()
+    import time
+    bus = CANBus('/dev/ttyS0')
+    drive = JaguarDrive(bus)
+    print "Vroom!"
+    for i in range(1, 1000):
+        v = i / 1000.0
+        drive.setspeed(v, v)
+        time.sleep(0.05)
+    print "Whoa!"
+    for i in range(1000, -1000, -1):
+        v = i / 1000.0
+        drive.setspeed(v, v)
+        time.sleep(0.05)
+    print "Whoa!"
+    for i in range(-1000, 0):
+        v = i / 1000.0
+        drive.setspeed(v, v)
+        time.sleep(0.05)
+    print "Duuuuh."

trunk/software/rbconfig.py

@@ -2 +2 @@
 This file contains settings for the rb module.
 '''
-
-#from rb.vision import DTREE, HARD 
 
 NONE = 'none' # Connect to actual hardware/interface 
@@ -9 +7 @@
 REAL = 'real' # Do not load anything                 
 
-name              = 'RATT' # Human-readable robot name
+name              = 'Moxom\'s Master' # Human-readable robot name
 log_level         = 'DEBUG'
 #triplog_outdir    = '%(robot_name)s-%(year)s-%(month)s-%(day)sT%(hour)s.%(minute)s.%(second)s-logs'
@@ -26 +24 @@
 
 camera            = NONE
+camera_gst_input  = 'rtspsrc location=rtsp://192.168.27.3:554 ! decodebin'
 #camera_gst_input  = 'v4l2src'
 camera_gst_input  = 'filesrc location="/home/tomwm/Videos/Still_Alive_Typography.flv" ! decodebin'
@@ -47 +46 @@
 wiimote           = REAL
 #wiimote_addr      = '00:19:1D:2C:F2:37' # Tom's wiimote
-wiimote_addr      = 'e8:43:ce:9d:e9:66'
+wiimote_addr      = 'e8:43:ce:9d:e9:66' # Team's wiimote
 
 gui               = REAL