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add motor speed control to gui

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Brendan Haines 2020-04-08 16:10:16 -06:00
parent 5da1a5a8c3
commit 2045ca3013
1 changed files with 9 additions and 2 deletions
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11
Software/python/server.py
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@ -21,6 +21,8 @@ DEBUG = False
BAT_MUX_CHAN = 9 BAT_MUX_CHAN = 9
VBAT_THRESHOLD = 11.0 VBAT_THRESHOLD = 11.0
base_motor_speed = 0.1
# Configure MUX for ADC # Configure MUX for ADC
mux_io = [None] * 4 mux_io = [None] * 4
mux_io[0] = digitalio.DigitalInOut(board.D23) mux_io[0] = digitalio.DigitalInOut(board.D23)
@ -100,13 +102,14 @@ def controller():
global servos global servos
global control_thread_run global control_thread_run
global D # controller model global D # controller model
global base_motor_speed
# TODO: make these parameters editable via network interface # TODO: make these parameters editable via network interface
if D.dt is None: if D.dt is None:
sample_interval = 0.01 sample_interval = 0.01
else: else:
sample_interval = D.dt sample_interval = D.dt
base_speed = 0.1 base_speed = base_motor_speed
iir_taps = np.append(D.den[1:], 0) iir_taps = np.append(D.den[1:], 0)
fir_taps = np.append(D.num, 0) fir_taps = np.append(D.num, 0)
fir_taps = np.concatenate([np.zeros((len(iir_taps) + 1) - len(fir_taps)), fir_taps]) fir_taps = np.concatenate([np.zeros((len(iir_taps) + 1) - len(fir_taps)), fir_taps])
@ -220,11 +223,14 @@ def stop_controller(attrname=None, old=None, new=None):
pass pass
def update_models(attrname=None, old=None, new=None): def update_models(attrname=None, old=None, new=None):
global base_motor_speed
global base_motor_speed_box
stop_controller() stop_controller()
try: try:
exec("global D\n" + controller_model_text.value) exec("global D\n" + controller_model_text.value)
print("INFO: controller model updated") print("INFO: controller model updated")
print(D) print(D)
base_motor_speed = float(base_motor_speed_box.value)
except: except:
print("WARN: invalid controller model") print("WARN: invalid controller model")
@ -242,6 +248,7 @@ start_button.on_click(start_controller)
stop_button = Button(label="Stop") stop_button = Button(label="Stop")
stop_button.on_click(stop_controller) stop_button.on_click(stop_controller)
base_motor_speed_box = TextInput(value=str(base_motor_speed))
# plant_model_text = # plant_model_text =
controller_model_text = TextInput(value="D = TransferFunction([1], [1], dt=0.01)") controller_model_text = TextInput(value="D = TransferFunction([1], [1], dt=0.01)")
update_models_button = Button(label="Update models") update_models_button = Button(label="Update models")
@ -272,7 +279,7 @@ def update_battery_voltage(attrname=None, old=None, new=None):
# controller_iir_taps = TextInput(title="IIR taps", value=str(iir_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) controls = column(vbat_text, cal_white_button, cal_black_button, start_button, stop_button)
controller_model = row(controller_model_text, update_models_button) controller_model = row(controller_model_text, base_motor_speed_box, update_models_button)
# controller_settings = column(controller_sample_interval, controller_base_speed, controller_fir_taps, controller_iir_taps) # 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_model))#, controller_settings)) curdoc().add_root(column(row(controls, brightness_plot, width=800), time_plot, controller_model))#, controller_settings))
curdoc().title = "TriangleBot Control Panel" curdoc().title = "TriangleBot Control Panel"