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fix signal names

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Brendan Haines 2020-04-08 14:57:35 -06:00
parent dabf945bda
commit fc3a4cd4ff
1 changed files with 9 additions and 9 deletions
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18
Software/python/server.py
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@ -76,11 +76,11 @@ brightness_idx = np.arange(8)
brightness = [get_normalized_reflectivity(c) for c in range(8)] brightness = [get_normalized_reflectivity(c) for c in range(8)]
# Initialize time data # Initialize time data
time_data = np.empty((0, 3)) # [[t, e, c]] time_data = np.empty((0, 3)) # [[t, e, u]]
# Create sources for plots # Create sources for plots
brightness_plot_source = ColumnDataSource(data=dict(sensor=brightness_idx, brightness=brightness)) brightness_plot_source = ColumnDataSource(data=dict(sensor=brightness_idx, brightness=brightness))
time_plot_source = ColumnDataSource(data=dict(t=time_data[:,0], e=time_data[:,1], c=time_data[:,2])) time_plot_source = ColumnDataSource(data=dict(t=time_data[:,0], e=time_data[:,1], u=time_data[:,2]))
# Set up plots # Set up plots
brightness_plot = figure(plot_height=150, plot_width=400, x_range=[0, 7], y_range=[0, 1], tools="save") brightness_plot = figure(plot_height=150, plot_width=400, x_range=[0, 7], y_range=[0, 1], tools="save")
@ -89,7 +89,7 @@ brightness_plot.circle('sensor', 'brightness', source=brightness_plot_source, si
time_plot = figure(plot_height=400, plot_width=800, y_range=[-1, 1], tools="pan,reset,save,wheel_zoom") time_plot = figure(plot_height=400, plot_width=800, y_range=[-1, 1], tools="pan,reset,save,wheel_zoom")
time_plot.line('t', 'e', source=time_plot_source, line_width=3, line_alpha=0.6, legend_label="e(t)") time_plot.line('t', 'e', source=time_plot_source, line_width=3, line_alpha=0.6, legend_label="e(t)")
time_plot.line('t', 'c', source=time_plot_source, line_width=3, line_alpha=0.6, legend_label="c(t)", line_color = "green") time_plot.line('t', 'u', source=time_plot_source, line_width=3, line_alpha=0.6, legend_label="u(t)", line_color = "green")
# Controller thread # Controller thread
control_thread_run = False control_thread_run = False
@ -122,7 +122,7 @@ def controller():
# Precompute # Precompute
this_time = 0 this_time = 0
new_c = 0 new_u = 0
motor_speed = np.array(motor_directions) * base_speed motor_speed = np.array(motor_directions) * base_speed
while control_thread_run: while control_thread_run:
@ -133,15 +133,15 @@ def controller():
line_position = 0 line_position = 0
# Calculate output # Calculate output
new_c += fir_taps[0] * line_position new_u += fir_taps[0] * line_position
motor_speed += steering_sign * new_c motor_speed += steering_sign * new_u
# Update motors # Update motors
for ii in range(3): for ii in range(3):
servos[ii].throttle = np.clip(motor_speed[ii], -1, 1) servos[ii].throttle = np.clip(motor_speed[ii], -1, 1)
# Log data # Log data
new_time_data = [[this_time, line_position, new_c]] new_time_data = [[this_time, line_position, new_u]]
time_data = np.concatenate((time_data, new_time_data)) time_data = np.concatenate((time_data, new_time_data))
# Print data # Print data
@ -153,9 +153,9 @@ def controller():
# Precompute for next iteration # Precompute for next iteration
this_time = time_data[-1, 0] + sample_interval this_time = time_data[-1, 0] + sample_interval
c = time_data[:,2] u = time_data[:,2]
e = time_data[:,1] e = time_data[:,1]
new_c = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) - np.sum(iir_taps * c[-len(iir_taps):]) new_u = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) - np.sum(iir_taps * u[-len(iir_taps):])
motor_speed = np.array(motor_directions) * base_speed motor_speed = np.array(motor_directions) * base_speed
# TODO: replace sleep statement with something that doesn't depend on execution time of loop # TODO: replace sleep statement with something that doesn't depend on execution time of loop