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auto.py
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# -*- coding: utf-8 -*-
"""
Based on Arduino PID Library (Version 1.0.1) by Brett Beauregard <[email protected]> brettbeauregard.com
"""
from __future__ import division
from UDP import UDP_Server
import sys
import time
import Adafruit_PCA9685
#kp = 130 , ki = 80 , kp = 0.1
out_max = 400
out_min = 230
zero_offset = 305
direct = True
sample_time = 0.01 # seconds
kpx = 0.7
kix = 0.1
kdx = 0.001
output_valuex = 0.0
last_inputx = 0.0
i_termx = 0.0
windup_guardx = 5.0
out_maxx = 330
out_minx = 270
last_timex=0.0
errorx=0.0
kpy = 1.0
kiy = 0.2
kdy = 0.001
output_valuey = 0.0
last_inputy = 0.0
i_termy = 0.0
windup_guardy = 5.0
out_maxy = 350
out_miny = 250
last_timey=0.0
errory=0.0
kpyaw = 0.7
kiyaw = 0.1
kdyaw = 0.001
output_value_yaw = 0.0
last_input_yaw = 0.0
i_term_yaw = 0.0
windup_guard_yaw = 5.0
out_max_yaw = 330
out_min_yaw = 270
last_time_yaw = 0.0
error_yaw = 0.0
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
last_time = time.time() - sample_time
#sensor.setFluidDensity(1000) # kg/m^3
def computex(kpx,kix,kdx,direct,errorx,
sample_time,last_timex,windup_guardx,i_termx,
output_valuex,last_inputx,out_minx,out_maxx):
now = time.time()
time_change = now - last_timex
#error = setpoint - input_value
i_termx += kix * errorx * sample_time
if i_termx > windup_guardx:
i_termx = out_maxx
elif i_termx < -windup_guardx:
i_termx = out_minx
delta_input = errorx - last_inputx
output = (kpx * errorx) + i_termx + (kdx * (delta_input / sample_time))
print(output)
#output += zero_offset
if output > out_maxx:
output = out_maxx
elif output < out_minx:
output = out_minx
output_valuex = output
last_inputx = errorx
last_timex = now
return output_valuex
def computeyaw(kpyaw,kiyaw,kdyaw,direct,error_yaw,
sample_time,last_time_yaw,windup_guard_yaw,i_term_yaw,
output_value_yaw,last_input_yaw,out_min_yaw,out_max_yaw):
now = time.time()
time_change = now - last_time_yaw
#error = setpoint - input_value
i_term_yaw += kiyaw * error_yaw * sample_time
if i_term_yaw > windup_guard_yaw:
i_term_yaw = out_max_yaw
elif i_term_yaw < -windup_guard_yaw:
i_term_yaw = out_min_yaw
delta_input = error_yaw - last_input_yaw
output = (kpyaw * error_yaw) + i_term_yaw + (kdyaw * (delta_input / sample_time))
print(output)
#output += zero_offset
if output > out_max_yaw:
output = out_max_yaw
elif output < out_min_yaw:
output = out_min_yaw
output_value_yaw = output
last_input_yaw = error_yaw
last_time_yaw = now
return output_value_yaw
def computey(kpy,kiy,kdy,direct,errory,
sample_time,last_timey,windup_guardy,i_termy,
output_valuey,last_inputy,out_miny,out_maxy):
now = time.time()
time_change = now - last_timey
#error = setpoint - input_value
i_termy += kiy * errory * sample_time
if i_termy > windup_guardy:
i_termy = out_maxy
elif i_termy < -windup_guardy:
i_termy = out_miny
delta_input = errory - last_inputy
output = (kpy * errory) + i_termy + (kdy * (delta_input / sample_time))
print(output)
output += zero_offset
if output > out_maxy:
output = out_maxy
elif output < out_miny:
output = out_miny
output_valuey = output
last_inputy = errory
last_timey = now
return output_valuey
if __name__ == '__main__':
print("yallaaaaaaa")
#setpoint = input("enter height : ")
#freshwaterDepth = input("enter depth : ")
anwar=UDP_Server("10.1.1.15",9020)
#setpoint = float(setpoint)
#nput_value = input("enter current point : ")
#input_value=float(input_value)
#freshwaterDepth = float(freshwaterDepth)
pwm.set_pwm(5, 0, 305)
pwm.set_pwm(7, 0, 305)
pwm.set_pwm(13, 0, 305)
pwm.set_pwm(15, 0, 305)
pwm.set_pwm(11, 0, 305)
pwm.set_pwm(9, 0, 305)
pwm.set_pwm(9, 0, 305)
pwm.set_pwm(8, 0, 305)
time.sleep(0.1)
try:
while True:
data=anwar.recieve()
#print(data)
data=data.split(",")
#print(data)
#print(data[0])
errorx=int(data[0])
errory=int(data[1])
print("error in x: "+str(errorx))
print("error in y: "+str(errory))
val = computex(kpx,kix,kdx,direct,errorx,
sample_time,last_timex,windup_guardx,i_termx,
output_valuex,last_inputx,out_minx,out_maxx)
val1 = computey(kpy,kiy,kdy,direct,errory,
sample_time,last_timey,windup_guardy,i_termy,
output_valuey,last_inputy,out_miny,out_maxy)
val2 = computeyaw(kpyaw,kiyaw,kdyaw,direct,error_yaw,
sample_time,last_time_yaw,windup_guard_yaw,i_term_yaw,
output_value_yaw,last_input_yaw,out_min_yaw,out_max_yaw)
print("pwm: " + str(val))
if val:
val = int(val)
val1= int(val1)
pwm.set_pwm(7, 0, zero_offset+val)
pwm.set_pwm(5, 0, zero_offset-val)
pwm.set_pwm(13, 0, zero_offset+val)
pwm.set_pwm(15, 0, zero_offset-val)
pwm.set_pwm(11, 0, val1)
pwm.set_pwm(9, 0, val1)
last_time = time.time()
else :
print("\n")
time.sleep(0.01)
except KeyboardInterrupt:
time.sleep(0.1)
print("no")
pwm.set_pwm(5, 0, 305)
pwm.set_pwm(7, 0, 305)
pwm.set_pwm(13, 0, 305)
pwm.set_pwm(15, 0, 305)
pwm.set_pwm(11, 0, 305)
pwm.set_pwm(9, 0, 305)
sys.exit()