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rearrange code in main loop

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Brendan Haines 2020-03-02 21:41:43 -07:00
parent 6cd6b448e2
commit 2e5c2ad8db
1 changed files with 18 additions and 14 deletions
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32
Software/python/hwtest.py
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@ -121,21 +121,15 @@ def control_thread():
fir_taps = [1, -1, 0] fir_taps = [1, -1, 0]
iir_taps = [0, 0] iir_taps = [0, 0]
time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1])) time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1]))
motor_directions = [-1, 1, 0]
steering_sign = 1
# Precompute
this_time = 0
new_c = 0
motor_speed = np.array(motor_directions) * base_speed
while True: while True:
# TODO: replace sleep statement with something that doesn't depend on execution time of loop
time.sleep(sample_interval)
if time_data.shape[0] == 0:
this_time = 0
else:
this_time = time_data[-1, 0] + sample_interval
# Precompute as much as possible
c = time_data[:,2]
e = time_data[:,1]
new_c = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) - np.sum(iir_taps * c[-len(iir_taps):])
motor_speed = np.array([-1, 1, 0]) * base_speed
# Read error # Read error
brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1) brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1)
line_position = np.sum((1 - brightness) * (np.arange(8) - 3.5)) / np.sum(1-brightness) / 3.5 line_position = np.sum((1 - brightness) * (np.arange(8) - 3.5)) / np.sum(1-brightness) / 3.5
@ -144,7 +138,7 @@ def control_thread():
# Calculate output # Calculate output
new_c += fir_taps[0] * line_position new_c += fir_taps[0] * line_position
motor_speed += new_c motor_speed += steering_sign * new_c
# Update motors # Update motors
# for ii in range(3): # for ii in range(3):
@ -161,6 +155,16 @@ def control_thread():
print(f"{line_position:+1.2f}", end="") print(f"{line_position:+1.2f}", end="")
print() print()
# Precompute for next iteration
this_time = time_data[-1, 0] + sample_interval
c = time_data[:,2]
e = time_data[:,1]
new_c = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) - np.sum(iir_taps * c[-len(iir_taps):])
motor_speed = np.array(motor_directions) * base_speed
# TODO: replace sleep statement with something that doesn't depend on execution time of loop
time.sleep(sample_interval)
# Start controller # Start controller
# TODO: add start/stop/reset capability to GUI # TODO: add start/stop/reset capability to GUI