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keyboardWire.py
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import time, sys, msvcrt
from struct import *
from serial import *
from math import *
from xbee import XBee
from lib.dictionaries import *
from lib.command_interface import CommandInterface
from lib.telemetry_reader import TelemetryReader
from lib.network_coordinator import NetworkCoordinator
from lib.quaternion import *
class IncrementCounter(object):
def __init__(self, start_value = 0, range = (-1.0, 1.0), increment = 0.1):
self.val = start_value
self.lower_bound = min(range)
self.upper_bound = max(range)
self.increment = increment
def value(self):
return self.val
def increase(self):
self.val = self.val + self.increment
self.__enforceRange()
def decrease(self):
self.val = self.val - self.increment
self.__enforceRange()
def set(self, val):
self.val = val
self.__enforceRange()
def __enforceRange(self):
if self.val > self.upper_bound:
self.val = self.upper_bound
elif self.val < self.lower_bound:
self.val = self.lower_bound
class KeyboardInterface(object):
def __init__(self, comm_interface = None):
self.comm = comm_interface
# Attitude state
self.yaw = IncrementCounter( start_value = 0.0, range = (180.0, -180.0), increment = 45.0 )
self.pitch = IncrementCounter( start_value = 0.0, range = (90.0, -90.0), increment = 10.0 )
self.roll = IncrementCounter( start_value = 0.0, range = (180.0, -180.0), increment = 10.0)
# Slew state
self.yaw_rate = IncrementCounter( start_value = 0.0, range = (10.0, -10.0), increment = 0.25 )
self.pitch_rate = IncrementCounter( start_value = 0.0, range = (10.0, -10.0), increment = 0.25 )
self.roll_rate = IncrementCounter( start_value = 0.0, range = (10.0, -10.0), increment = 0.25 )
# Actuator state
self.elevator = IncrementCounter( start_value = 0.0, range = (1.0, -1.0), increment = 0.2 )
self.thrust = IncrementCounter( start_value = 0.0, range = (1.0, 0.0), increment = 0.025 )
self.steer = IncrementCounter( start_value = 0.0, range = (1.0, -1.0), increment = 0.05 )
# PID constants
self.yaw_coeffs = [ 0.0, 0.0, -2.0, -0.8, -0.4, 1.0, 1.0] # For steer Ki 0.8
self.pitch_coeffs = [ 0.0, 0.0, 3.0, 0.0, 0.2, 1.0, 1.0] # For elevator
self.roll_coeffs = [ 0.0, 0.0, -0.2, 0.0, 0.0, 1.0, 1.0] # For thrust
self.yaw_filter_coeffs = [ 3, 0, 0.0007, 0.0021, 0.0021, 0.0007, 1.0, 2.6861573965, -2.419655111, 0.7301653453]
# self.yaw_filter_coeffs = [ 3, 0, 56.0701e-6, 168.2103e-6, 168.2103e-6, 56.0701e-6, 1, -2.8430, 2.6980, -0.8546]
# State
self.streaming = False
self.rate_control = False
self.rc_changed = False
self.offsets_changed = False
self.ref_changed = False
self.rate_changed = False
self.pinging = False
def process(self, c):
if c != None:
self.__handleKey(c)
if self.pinging:
self.comm.sendPing();
def __handleKey(self, c):
# Reference commands
if c == 'w':
self.pitch.increase()
# self.comm.rotateRefLocal(quatGenerate(radians(10), (0,1,0)))
self.ref_changed = True
elif c == 's':
self.pitch.decrease()
# self.comm.rotateRefLocal(quatGenerate(radians(-10), (0,1,0)))
self.ref_changed = True
elif c == 'a':
# self.yaw.decrease()
# self.ref_changed = True
# self.comm.rotateRefGlobal(quatGenerate(radians(-10), (0,0,1)))
self.yaw_rate.decrease()
self.rate_changed = True
elif c == 'd':
# self.yaw.increase()
# self.ref_changed = True
# self.comm.rotateRefGlobal(quatGenerate(radians(10), (0,0,1)))
self.yaw_rate.increase()
self.rate_changed = True
elif c == 'q':
self.roll.increase()
self.ref_changed = True
elif c == 'e':
self.roll.decrease()
self.ref_changed = True
# Telemetry commands
elif c == 'r':
self.comm.startSensorDump(1)
elif c == 'f':
self.comm.startSensorDump(0)
elif c == 'v':
self.comm.requestDumpData(0x80 + 0, 0x80 + 600, 66)
elif c == 't':
self.comm.requestTelemetry()
elif c == 'y':
self.streaming = not self.streaming
#telem.writeLine("-> Toggle Streaming\n")
# Regulator Modes
elif c == '1':
self.comm.setRegulatorMode(RegulatorStates['Off'])
elif c == '2':
self.comm.setRegulatorMode(RegulatorStates['Stabilize'])
elif c == '3':
self.comm.setRegulatorMode(RegulatorStates['Remote Control'])
elif c == '4':
self.rate_control = not self.rate_control
self.comm.setRateMode(self.rate_control)
elif c == '0':
#self.pinging = not self.pinging
self.comm.setRegulatorRef((1.0, 0.0, 0.0, 0.0))
# Attitude
elif c == 'c':
self.comm.runGyroCalib(1000);
elif c == 'z':
self.comm.zeroEstimate()
# Configuration
elif c == 'p':
self.comm.setRegulatorPid( self.yaw_coeffs + self.pitch_coeffs + self.roll_coeffs )
self.comm.setRegulatorRateFilter( self.yaw_filter_coeffs )
self.comm.setTelemetrySubsample(1)
elif c == ']':
self.thrust.increase()
self.offsets_changed = True
elif c == '[':
self.thrust.decrease()
self.offsets_changed = True
elif c == '\x1b': #Esc key
#break
raise Exception('Exit')
if self.rc_changed:
self.comm.setRemoteControlValues( self.thrust.value(), self.steer.value(), self.elevator.value() );
self.rc_changed = False
if self.offsets_changed:
self.comm.setRegulatorOffsets((self.steer.value(), self.elevator.value(), self.thrust.value()))
self.offsets_changed = False
if self.rate_changed:
self.comm.setGlobalRateSlew( ( self.yaw_rate.value(), self.pitch_rate.value(), self.roll_rate.value() ) )
self.rate_changed = False
if self.ref_changed:
print "Yaw, Pitch, Roll: " + str(self.yaw.value()) + " " + \
str(self.pitch.value()) + " " + str(self.roll.value())
self.comm.setRegulatorRef( eulerToQuaternionDeg( self.yaw.value(), self.pitch.value(), self.roll.value() ) )
self.ref_changed = False
def txCallback(dest, packet):
global xb
xb.tx(dest_addr = dest, data = packet)
def rxCallback(packet):
global telem, coord
telem.processPacket(packet)
coord.processPacket(packet)
def loop():
global xb, telem, coord
DEFAULT_COM_PORT = 'COM7'
DEFAULT_BAUD_RATE = 57600
DEFAULT_ADDRESS = '\x10\x21'
DEFAULT_PAN = 0x1001
if len(sys.argv) == 1:
com = DEFAULT_COM_PORT
baud = DEFAULT_BAUD_RATE
addr = DEFAULT_ADDRESS
elif len(sys.argv) == 4:
com = sys.argv[1]
baud = int(sys.argv[2])
addr = pack('>H', int(sys.argv[3], 16))
else:
print "Wrong number of arguments. Must be: COM BAUD ADDR"
sys.exit(1)
ser = Serial(port = com, baudrate = baud)
xb = XBee(ser, callback = rxCallback)
print "Setting PAN ID to " + hex(DEFAULT_PAN)
xb.at(command = 'ID', parameter = pack('>H', DEFAULT_PAN))
comm = CommandInterface(addr, txCallback)
telem = TelemetryReader(addr, txCallback)
kbint = KeyboardInterface(comm)
coord = NetworkCoordinator(txCallback)
comm.enableDebug()
telem.setConsoleMode(True)
telem.setFileMode(True)
telem.writeHeader()
coord.resume()
comm.setSlewLimit(3.0)
while True:
try:
c = None
if( msvcrt.kbhit() ):
c = msvcrt.getch()
kbint.process(c)
time.sleep(0.01)
#comm.sendPing()
except:
break
telem.close()
xb.halt()
ser.close()
if __name__ == '__main__':
try:
loop()
except Exception as e:
print e
finally:
#Add cleanup code!
pass