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add battery voltage monitor

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This commit is contained in:
Brendan Haines 2020-03-04 00:18:18 -07:00
parent 616cdf0485
commit 0775309220
1 changed files with 40 additions and 10 deletions
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50
Software/python/hwtest.py
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@ -8,13 +8,16 @@ from adafruit_servokit import ServoKit
import adafruit_ads1x15.ads1015 as ADS
from adafruit_ads1x15.analog_in import AnalogIn
import threading
import os
from bokeh.io import curdoc
from bokeh.layouts import column, row
from bokeh.models import ColumnDataSource, Slider, TextInput, Button
from bokeh.models import ColumnDataSource, Slider, TextInput, Button, Paragraph
from bokeh.plotting import figure
DEBUG = False
BAT_MUX_CHAN = 15
VBAT_THRESHOLD = 11.0
# Configure MUX for ADC
mux_io = [None] * 4
@ -48,7 +51,7 @@ try:
except IOError:
black_cal = [5]*8
def get_reflectivity(chan):
def get_mux_adc(chan):
global mux_io
global adc_mux
global adc_lock
@ -64,7 +67,7 @@ def get_reflectivity(chan):
def get_normalized_reflectivity(chan):
global white_cal
global black_cal
return (get_reflectivity(chan) - black_cal[chan]) / (white_cal[chan] - black_cal[chan])
return (get_mux_adc(chan) - black_cal[chan]) / (white_cal[chan] - black_cal[chan])
# Initialize brightness data
brightness_idx = np.arange(8)
@ -95,18 +98,19 @@ def controller():
global servos
global control_thread_run
# TODO: make these parameters editable via network interface
sample_interval = 0.01
base_speed = 0.1
fir_taps = [1, 0, 0]
iir_taps = [0, 0]
time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1]))
motor_directions = [1, -1, 0]
steering_sign = 1
print("INFO: Controller started")
# Initialize
time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1]))
# Precompute
this_time = 0
new_c = 0
@ -150,7 +154,7 @@ def controller():
for ii in range(3):
servos[ii].throttle = 0
print("INFO: Controller stopped")
control_thread = None
@ -170,13 +174,13 @@ def update_plots(attrname=None, old=None, new=None):
def cal_white(attrname=None, old=None, new=None):
global white_cal
white_cal = [get_reflectivity(c) for c in range(8)]
white_cal = [get_mux_adc(c) for c in range(8)]
np.savetxt('cal_white.txt', white_cal)
update_plots()
def cal_black(attrname=None, old=None, new=None):
global black_cal
black_cal = [get_reflectivity(c) for c in range(8)]
black_cal = [get_mux_adc(c) for c in range(8)]
np.savetxt('cal_black.txt', black_cal)
update_plots()
@ -198,7 +202,10 @@ def stop_controller(attrname=None, old=None, new=None):
except:
pass
# GUI elements
vbat_text = Paragraph(text="Battery Voltage: ? V")
cal_white_button = Button(label="Cal White")
cal_white_button.on_click(cal_white)
cal_black_button = Button(label="Cal Black")
@ -209,7 +216,30 @@ start_button.on_click(start_controller)
stop_button = Button(label="Stop")
stop_button.on_click(stop_controller)
controls = column(cal_white_button, cal_black_button, start_button, stop_button)
curdoc().add_root(column(row(controls, brightness_plot, width=800), time_plot))
def update_battery_voltage(attrname=None, old=None, new=None):
global VBAT_THRESHOLD
global vbat_text
vadc = get_mux_adc(BAT_MUX_CHAN)
# vbat = vadc * (10+1)/1
vbat = vadc * 12.21/1.018
vbat_text.text = f"Battery Voltage: {vbat:2.1f}V"
if vbat < VBAT_THRESHOLD:
stop_controller()
print("ERROR: Battery Critically Low")
# os.system("sudo poweroff")
# sample_interval = 0.01
# base_speed = 0.1
# fir_taps = [1, 0, 0]
# iir_taps = [0, 0]
# controller_sample_interval = TextInput(title="Sample Interval", value=str(sample_interval))
# controller_base_speed = Slider(title="Base Speed", value=base_speed, start=0, end=0.8, step=0.01)
# controller_fir_taps = TextInput(title="FIR taps", value=str(fir_taps))
# controller_iir_taps = TextInput(title="IIR taps", value=str(iir_taps))
controls = column(vbat_text, cal_white_button, cal_black_button, start_button, stop_button)
# controller_settings = column(controller_sample_interval, controller_base_speed, controller_fir_taps, controller_iir_taps)
curdoc().add_root(column(row(controls, brightness_plot, width=800), time_plot))#, controller_settings))
curdoc().title = "TriangleBot Control Panel"
curdoc().add_periodic_callback(update_plots, 250)
curdoc().add_periodic_callback(update_battery_voltage, 1000)