From bd10b8a3a993f031628239d5dc3f1f587a707697 Mon Sep 17 00:00:00 2001 From: Erik Umble Date: Wed, 1 May 2024 08:41:18 -0400 Subject: [PATCH] Begin documentation of NanoBot class --- docs/source/movement.rst | 9 ++- docs/source/nanonav.py | 131 +++++++++++++++++++++++++++++++++++ nanonav.py | 143 +++++++++++++++++++++++++++++++++++++++ 3 files changed, 282 insertions(+), 1 deletion(-) diff --git a/docs/source/movement.rst b/docs/source/movement.rst index c23c6b5..3d187d0 100644 --- a/docs/source/movement.rst +++ b/docs/source/movement.rst @@ -11,4 +11,11 @@ Quick Example from nanonav import ... - # TODO \ No newline at end of file + # TODO + +Usage +----- + +.. autoclass:: nanonav.NanoBot + :members: + diff --git a/docs/source/nanonav.py b/docs/source/nanonav.py index 527bdf0..b34977e 100644 --- a/docs/source/nanonav.py +++ b/docs/source/nanonav.py @@ -56,4 +56,135 @@ def on_disconnected(self): """ You may specify this method to be called once the BLE connection is lost. """ + pass + +class NanoBot: + """ + Interact with Arduino and peripheral hardware for movement and sensing. + + :param saturated_duty: The maximum duty cycle to use for the motors. This can be increased to compensate somewhat for lower battery voltage. + """ + def __init__(self, saturated_duty=22000, *args, **kwargs): + + # turn ir sensor pin on (inactive because it's active low) + self.ir_right_sensor = Pin(28, Pin.OUT) + self.ir_right_sensor.on() + + time.sleep(0.5) + + # ir sensors + self.ir_left_sensor = ADC(Pin(29, Pin.IN)) + self.ir_right_sensor = ADC(Pin(28, Pin.IN)) + + # initialize frequency + machine.freq(100000000) + + # initialize motors + m1pin1 = Pin(21) + m1pin2 = Pin(4) + m2pin1 = Pin(18) + m2pin2 = Pin(17) + + self.m1pwm1 = PWM(m1pin1) + self.m1pwm2 = PWM(m1pin2) + self.m2pwm1 = PWM(m2pin1) + self.m2pwm2 = PWM(m2pin2) + + # initialize motor constants + self.max_duty = 65535 # constant + self.saturated_duty = saturated_duty # choice for max speed + assert(0 <= self.saturated_duty <= self.max_duty) + self.turn90ticks = 120 + self.turn_error = 5 + self.block_delay = 1550 + + # PID controller constants + self.battery_scaling = 1.05 + self.kp = 0.8 * self.battery_scaling + self.ki = 0.08 * self.battery_scaling + self.kd = 0.04 * self.battery_scaling + + # initialize encoder variables + self.encpins = (15, 25, 7, 27) + self.enc1p1 = Pin(self.encpins[0], Pin.IN) + self.enc1p2 = Pin(self.encpins[1], Pin.IN) + self.enc2p1 = Pin(self.encpins[2], Pin.IN) + self.enc2p2 = Pin(self.encpins[3], Pin.IN) + + self.enc1 = 0 + self.enc2 = 0 + self.enc1dir = 1 + self.enc2dir = 1 + + # add interrupt callbacks to track encoder ticks + self.enc1p1.irq(lambda pin: self.enc_pin_high(self.encpins[0]), Pin.IRQ_RISING) + self.enc1p2.irq(lambda pin: self.enc_pin_high(self.encpins[1]), Pin.IRQ_RISING) + self.enc2p1.irq(lambda pin: self.enc_pin_high(self.encpins[2]), Pin.IRQ_RISING) + self.enc2p2.irq(lambda pin: self.enc_pin_high(self.encpins[3]), Pin.IRQ_RISING) + + self.setup() + + def enc_pin_high(self, pin): + if pin == self.encpins[0] or pin == self.encpins[1]: + if self.enc1p1.value() == 1 and self.enc1p2.value() == 1: + self.enc1 += 1 * self.enc1dir + elif self.enc1p1.value() == 1: + self.enc1dir = 1 + else: + self.enc1dir = -1 + if pin == self.encpins[2] or pin == self.encpins[3]: + if self.enc2p1.value() == 1 and self.enc2p2.value() == 1: + self.enc2 += 1 * self.enc2dir + elif self.enc2p1.value() == 1: + self.enc2dir = -1 + else: + self.enc2dir = 1 + + def calc_duty(self, duty_100): + return int(duty_100 * self.max_duty / 100) + + def m1_forward(self, duty_cycle): + self.m1pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + self.m1pwm2.duty_u16(0) + + def m2_backward(self, duty_cycle): + self.m1pwm1.duty_u16(0) + self.m1pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + + def m1_signed(self, duty_cycle): + if duty_cycle >= 0: + self.m1_forward(duty_cycle) + else: + self.m2_backward(-duty_cycle) + + def m2_forward(self, duty_cycle): + self.m2pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + self.m2pwm2.duty_u16(0) + + def m2_backward(self, duty_cycle): + self.m2pwm1.duty_u16(0) + self.m2pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + + def m2_signed(self, duty_cycle): + if duty_cycle >= 0: + self.m2_forward(duty_cycle) + else: + self.m2_backward(-duty_cycle) + + def stop(self): + """ + Turn off all motors. + """ + pass + + def ir_left(self): + """ + Return true if the left IR sensor detects white. + """ + pass + + def ir_right(self): + """ + Return true if the right IR sensor detects white. + """ pass \ No newline at end of file diff --git a/nanonav.py b/nanonav.py index 4ebc35a..3f16c93 100644 --- a/nanonav.py +++ b/nanonav.py @@ -118,3 +118,146 @@ def read(self): return int.from_bytes(value, "big") except Exception as e: return None + + +class NanoBot: + """ + Interact with Arduino and peripheral hardware for movement and sensing. + + :param saturated_duty: The maximum duty cycle to use for the motors. This can be increased to compensate somewhat for lower battery voltage. + """ + def __init__(self, saturated_duty=22000, *args, **kwargs): + + # turn ir sensor pin on (inactive because it's active low) + self.ir_right_sensor = Pin(28, Pin.OUT) + self.ir_right_sensor.on() + + time.sleep(0.5) + + # ir sensors + self.ir_left_sensor = ADC(Pin(29, Pin.IN)) + self.ir_right_sensor = ADC(Pin(28, Pin.IN)) + + # initialize frequency + machine.freq(100000000) + + # initialize motors + m1pin1 = Pin(21) + m1pin2 = Pin(4) + m2pin1 = Pin(18) + m2pin2 = Pin(17) + + self.m1pwm1 = PWM(m1pin1) + self.m1pwm2 = PWM(m1pin2) + self.m2pwm1 = PWM(m2pin1) + self.m2pwm2 = PWM(m2pin2) + + # initialize motor constants + self.max_duty = 65535 # constant + self.saturated_duty = saturated_duty # choice for max speed + assert(0 <= self.saturated_duty <= self.max_duty) + self.turn90ticks = 120 + self.turn_error = 5 + self.block_delay = 1550 + + # PID controller constants + self.battery_scaling = 1.05 + self.kp = 0.8 * self.battery_scaling + self.ki = 0.08 * self.battery_scaling + self.kd = 0.04 * self.battery_scaling + + # initialize encoder variables + self.encpins = (15, 25, 7, 27) + self.enc1p1 = Pin(self.encpins[0], Pin.IN) + self.enc1p2 = Pin(self.encpins[1], Pin.IN) + self.enc2p1 = Pin(self.encpins[2], Pin.IN) + self.enc2p2 = Pin(self.encpins[3], Pin.IN) + + self.enc1 = 0 + self.enc2 = 0 + self.enc1dir = 1 + self.enc2dir = 1 + + # add interrupt callbacks to track encoder ticks + self.enc1p1.irq(lambda pin: self.enc_pin_high(self.encpins[0]), Pin.IRQ_RISING) + self.enc1p2.irq(lambda pin: self.enc_pin_high(self.encpins[1]), Pin.IRQ_RISING) + self.enc2p1.irq(lambda pin: self.enc_pin_high(self.encpins[2]), Pin.IRQ_RISING) + self.enc2p2.irq(lambda pin: self.enc_pin_high(self.encpins[3]), Pin.IRQ_RISING) + + self.setup() + + def enc_pin_high(self, pin): + if pin == self.encpins[0] or pin == self.encpins[1]: + if self.enc1p1.value() == 1 and self.enc1p2.value() == 1: + self.enc1 += 1 * self.enc1dir + elif self.enc1p1.value() == 1: + self.enc1dir = 1 + else: + self.enc1dir = -1 + if pin == self.encpins[2] or pin == self.encpins[3]: + if self.enc2p1.value() == 1 and self.enc2p2.value() == 1: + self.enc2 += 1 * self.enc2dir + elif self.enc2p1.value() == 1: + self.enc2dir = -1 + else: + self.enc2dir = 1 + + def calc_duty(self, duty_100): + return int(duty_100 * self.max_duty / 100) + + def m1_forward(self, duty_cycle): + self.m1pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + self.m1pwm2.duty_u16(0) + + def m2_backward(self, duty_cycle): + self.m1pwm1.duty_u16(0) + self.m1pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + + def m1_signed(self, duty_cycle): + if duty_cycle >= 0: + self.m1_forward(duty_cycle) + else: + self.m2_backward(-duty_cycle) + + def m2_forward(self, duty_cycle): + self.m2pwm1.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + self.m2pwm2.duty_u16(0) + + def m2_backward(self, duty_cycle): + self.m2pwm1.duty_u16(0) + self.m2pwm2.duty_u16(min(self.calc_duty(duty_cycle), self.saturated_duty)) + + def m2_signed(self, duty_cycle): + if duty_cycle >= 0: + self.m2_forward(duty_cycle) + else: + self.m2_backward(-duty_cycle) + + def stop(self): + """ + Turn off all motors. + """ + # set all duty cycles to 0 + self.m1pwm1.duty_u16(0) + self.m1pwm2.duty_u16(0) + self.m2pwm1.duty_u16(0) + self.m2pwm2.duty_u16(0) + + def setup(self): + # initialize frequencies + self.m1pwm1.freq(1000) + self.m1pwm2.freq(1000) + self.m2pwm1.freq(1000) + self.m2pwm2.freq(1000) + + def ir_left(self): + """ + Return true if the left IR sensor detects white. + """ + return self.ir_left_sensor.read_u16() < 65535 // 2 + + def ir_right(self): + """ + Return true if the right IR sensor detects white. + """ + return self.ir_right_sensor.read_u16() < 65535 // 2 \ No newline at end of file