Imporove servo PWM calibration
This commit is contained in:
silbo
parent
fc11ffdad4
commit
00857da470
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@ -2,7 +2,7 @@
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code.py
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# ignore backup files
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._*
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* Mac OS stuff
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# Mac OS stuff
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.DS_Store
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# ignore the ESP32 MicroPython binary
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esp32*.bin
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2
LICENSE
2
LICENSE
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@ -1,6 +1,6 @@
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MIT License
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Copyright (c) 2017 RoboKoding LTD
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Copyright (c) 2021 RoboKoding LTD
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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31
Makefile
31
Makefile
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@ -1,20 +1,15 @@
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#!/bin/bash
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SERIAL_PORT=/dev/ttyUSB0
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# When this baud does not work, try 115200
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FLASH_BAUD := 230400
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ifeq (,$(wildcard $(SERIAL_PORT)))
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SERIAL_PORT=/dev/tty.usbserial-1410
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endif
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# Image to flash
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FLASH_IMAGE := sumofirmware.bin
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ifeq (,$(wildcard $(SERIAL_PORT)))
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SERIAL_PORT=/dev/tty.usbserial-1420
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endif
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# Try to automatically find the serialport
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SERIAL_PORT := $(shell find /dev -iname "tty*usb*")
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ifeq (,$(wildcard $(SERIAL_PORT)))
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SERIAL_PORT=/dev/tty.SLAB_USBtoUART
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endif
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all: flash delay config update reset
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all: erase flash delay config update reset
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delay:
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sleep 3
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@ -30,9 +25,15 @@ update:
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config:
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ampy -d 0.5 -p $(SERIAL_PORT) put config.json
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erase:
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esptool.py -p $(SERIAL_PORT) -b $(FLASH_BAUD) erase_flash
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image:
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esptool.py -p $(SERIAL_PORT) -b $(FLASH_BAUD) read_flash 0x1000 0x250000 sumofirmware.bin
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flash:
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esptool.py -p $(SERIAL_PORT) -b 460800 erase_flash
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esptool.py -p $(SERIAL_PORT) -b 460800 write_flash --flash_mode dio 0x1000 esp32*.bin
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esptool.py -p $(SERIAL_PORT) -b $(FLASH_BAUD) write_flash --flash_mode dio 0x1000 $(FLASH_IMAGE)
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serial:
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picocom --baud 115200 $(SERIAL_PORT)
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picocom --baud 115200 -q $(SERIAL_PORT)
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11
boot.py
11
boot.py
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@ -1,10 +1,11 @@
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import os
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import utime
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import machine
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from utime import sleep_ms
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# Give time to cancel this boot script
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print("Press Ctrl-C to stop new boot script...")
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sleep_ms(1000)
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utime.sleep_ms(1000)
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root_files = os.listdir()
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update_files = ['boot.py.new', 'main.py.new', 'hal.py.new']
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@ -13,14 +14,14 @@ files_to_update = []
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# Check for FW updates and verify new FW files
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for file in update_files:
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if file in root_files:
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print("boot.py: trying to update " + file)
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print("boot.py: starting to update:", file)
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# Try to load the user code
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try:
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with open(file, 'r') as code:
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compile(code.read(), "snippet", 'exec')
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files_to_update.append(file)
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except:
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print("boot.py: " + file + " compilation failed")
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except Exception as error:
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print("boot.py:", file, "compilation failed:", error)
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files_to_update.clear()
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break
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10
config.json
10
config.json
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@ -2,12 +2,10 @@
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"status_led_pin": 5,
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"battery_coeff": 2.25,
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"sumorobot_name": "SumoRobot",
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"firmware_timestamp": "2019.11.17 16:23:00",
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"firmware_version": "1.0.0",
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"left_servo_min_tuning": 1,
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"left_servo_max_tuning": 100,
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"right_servo_min_tuning": 1,
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"right_servo_max_tuning": 100,
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"firmware_timestamp": "2021.06.04 22:23",
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"firmware_version": "1.1",
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"left_servo_calib": [37, 73, 81, 116],
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"right_servo_calib": [37, 73, 81, 116],
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"sonar_threshold": 40,
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"boot_code": "code.py",
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"left_line_value": 1000,
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96
main.py
96
main.py
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@ -1,45 +1,47 @@
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import ujson
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import struct
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import utime
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import _thread
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import ubluetooth
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from machine import Timer
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from micropython import const
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import micropython
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from hal import *
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# Loading libraries takes ca 400ms
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# BLE events
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_IRQ_CENTRAL_CONNECT = const(1)
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_IRQ_CENTRAL_DISCONNECT = const(2)
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_IRQ_GATTS_READ_REQUEST = const(4)
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_IRQ_CENTRAL_CONNECT = micropython.const(1)
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_IRQ_CENTRAL_DISCONNECT = micropython.const(2)
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_IRQ_GATTS_WRITE = micropython.const(3)
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# Open and parse the config file
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with open('config.json', 'r') as config_file:
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config = ujson.load(config_file)
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# SumoRobot functionality
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sumorobot = Sumorobot()
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# Initialize the SumoRobot object
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sumorobot = Sumorobot(config)
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# Advertise BLE name (SumoRobot name)
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def advertise_ble_name(name):
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ble_name = bytes(name, 'ascii')
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ble_name = bytearray((len(ble_name) + 1, 0x09)) + ble_name
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ble.gap_advertise(100, bytearray('\x02\x01\x02') + ble_name)
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payload = b'\x02\x01\x02' + bytes([len(name) + 1])
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payload += b'\x09' + name.encode()
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ble.gap_advertise(100, payload)
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def update_battery_level(timer):
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if conn_handle is not None:
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battery_level = sumorobot.get_battery_level()
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ble.gatts_notify(conn_handle, battery, bytes([battery_level]))
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# The code processing thread
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def process():
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def sensor_feedback_thread():
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while True:
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# Leave time to process other threads
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utime.sleep_ms(50)
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# Execute to see LED feedback for sensors
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sumorobot.update_sensor_feedback()
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def code_process_thread():
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global prev_bat_level, python_code
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while True:
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# Leave time to process other code
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sleep_ms(50)
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# Execute to see LED feedback for sensors
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sumorobot.update_sensor_feedback()
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# Leave time to process other threads
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utime.sleep_ms(50)
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# When no code to execute
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if python_code == b'':
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@ -47,12 +49,11 @@ def process():
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# Try to execute the Python code
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try:
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python_code = compile(python_code, "snippet", 'exec')
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exec(python_code)
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except:
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print("main.py: the code sent had errors")
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exec(compile(python_code, "snippet", 'exec'))
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except Exception as error:
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print("main.py: the python code had errors:", error)
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finally:
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print("main.py: finized execution")
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print("main.py: finized python code execution")
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# Erase the code
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python_code = b''
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# Stop the robot
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@ -60,6 +61,7 @@ def process():
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# Cancel code termination
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sumorobot.terminate = False
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# The BLE handler thread
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def ble_handler(event, data):
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global conn_handle, python_code, temp_python_code
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@ -69,15 +71,17 @@ def ble_handler(event, data):
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# Turn ON the status LED
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sumorobot.set_led(STATUS, True)
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update_battery_level(None)
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advertise_ble_name(sumorobot.config['sumorobot_name'])
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elif event is _IRQ_CENTRAL_DISCONNECT:
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conn_handle = None
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# Turn OFF status LED
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sumorobot.set_led(STATUS, False)
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# Advertise with name
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advertise_ble_name(sumorobot.config['sumorobot_name'])
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elif event is _IRQ_GATTS_READ_REQUEST:
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elif event is _IRQ_GATTS_WRITE:
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# Read the command
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cmd = ble.gatts_read(rx)
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print(cmd)
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if b'<stop>' in cmd:
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python_code = b''
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@ -96,8 +100,13 @@ def ble_handler(event, data):
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python_code = b''
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sumorobot.move(RIGHT)
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elif b'<sensors>' in cmd:
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print(sumorobot.get_sensor_scope())
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ble.gatts_notify(conn_handle, tx, sumorobot.get_sensor_scope())
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elif b'<config>' in cmd:
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ble.gatts_notify(conn_handle, tx, sumorobot.get_configuration_scope())
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elif b'<pwm>' in cmd:
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servo, speed = cmd[5:].decode().split(',')
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servo = LEFT if servo == 'LEFT' else RIGHT
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sumorobot.pwm[servo].duty(int(speed))
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elif b'<code>' in cmd:
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temp_python_code = b'\n'
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elif b'<code/>' in cmd:
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@ -107,24 +116,28 @@ def ble_handler(event, data):
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temp_python_code += cmd
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else:
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temp_python_code = b''
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print("main.py: unknown cmd=" + cmd)
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print("main.py: unknown cmd=", cmd)
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conn_handle = None
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temp_python_code = b''
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python_code = b''
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# When user code (code.py) exists
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if 'code.py' in root_files:
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print("main.py: trying to load code.py")
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# Try to load the user code
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# When boot code exists
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if sumorobot.config['boot_code'] in root_files:
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print("main.py: trying to load", sumorobot.config['boot_code'])
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# Try to load and compile the boot code
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try:
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with open('code.py', 'r') as code:
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python_code = compile(code.read(), "snippet", 'exec')
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except:
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print("main.py: code.py compilation failed")
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with open(sumorobot.config['boot_code'], 'r') as file:
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boot_code = file.read()
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compile(boot_code, "snippet", 'exec')
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python_code = boot_code
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except Exception as error:
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print("main.py:", sumorobot.config['boot_code'], "compilation failed:", error)
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# Start BLE
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ble = ubluetooth.BLE()
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ble.config(gap_name=sumorobot.config['sumorobot_name'])
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ble.active(True)
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# Register the BLE hander
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@ -160,11 +173,12 @@ ble.gatts_write(firmware, sumorobot.config['firmware_version'])
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# Start BLE advertising with name
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advertise_ble_name(sumorobot.config['sumorobot_name'])
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# Start the code processing thread
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_thread.start_new_thread(process, ())
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# Start the threads
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_thread.start_new_thread(code_process_thread, ())
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_thread.start_new_thread(sensor_feedback_thread, ())
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# Start BLE battery percentage update timer
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battery_timer = Timer(Timer.PERIODIC)
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battery_timer = machine.Timer(machine.Timer.PERIODIC)
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battery_timer.init(period=3000, callback=update_battery_level)
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# Clean up
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