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software/servo/servo2to2/servo2to2_core.py
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# -*- coding: utf-8 -*-
"""
author Benoit Dubois
copyright FEMTO Engineering
licence LGPL v3
brief Generic (core) controller composed of 2 servos.
details
-------
INPUT 1 >---|PID 1|---> OUTPUT1
-------
-------
INPUT 2 >---|PID 2|---> OUTPUT1
-------
"""
import pyb
from switches import Switches
from servo_serial_com import ServoSerialCom
MNEMO_LIST = ["kp", "ki", "sp", "osp", "imax", "omax", "oscale", "fs"]
# Avoid use of timer 2, 3, 5 and 6
# see http://docs.micropython.org/en/latest/pyboard/library/pyb.Timer.html
TIMER_SERVO1_ID = 4
TIMER_SERVO2_ID = 7
TIMER_MONITOR_ID = 12
DEFAULT_TIMER_SERVO_FREQ = 1
TIMER_MONI_FREQ = 0.35
PIN_KP1 = 'PE0'
PIN_KI1 = 'PE2'
PIN_KP2 = 'PE4'
PIN_KI2 = 'PE6'
#----------------------------------------------------------
class Servo1to1(object):
"""A class defining a basic servo with one input and one output.
Note:
- servo is disable at initialization,
Note on implementation:
- 'in' must have a read() method,
- 'ctrl' must have a compute(), enable and reset() methods,
- 'out' must have a write() method.
"""
def __init__(self, in_, ctrl, out):
self.in_ = in_
self.ctrl = ctrl
self.out = out
self.yn = 0 # Needed for monitoring
self.un = 0 # Needed for monitoring
self._en = False
def compute(self):
self.yn = self.in_.read()
if self._en is True:
self.un = self.ctrl.compute(self.yn)
else: # Servo disabled
self.un = 0
self.out.write(self.un)
def enable(self, value=True):
self._en = value
def reset(self):
self.ctrl.reset()
self._en = False
#----------------------------------------------------------
class Servo2to2Core(object):
def __init__(self, servo):
self.task = 0
self.servo = servo
self.switches, self.irqs = self.build_switches()
self.scom = ServoSerialCom()
# Init servos
self.init_servo_parameters()
self.handle_servo_state()
# timer_monitor is used to update monitoring output
timer_monitor = pyb.Timer(TIMER_MONITOR_ID, freq=TIMER_MONI_FREQ)
timer_monitor.callback(lambda f: self.callback_monitor())
# timer_servo[x] are used to sync update of servos
self.timer_servo = (pyb.Timer(TIMER_SERVO1_ID,
freq=DEFAULT_TIMER_SERVO_FREQ),
pyb.Timer(TIMER_SERVO2_ID,
freq=DEFAULT_TIMER_SERVO_FREQ))
self.timer_servo[0].callback(lambda f: self.callback_servo1())
self.timer_servo[1].callback(lambda f: self.callback_servo2())
def callback_servo1(self):
"""Executed when timer_servo1 is triggered.
"""
self.task = 1
def callback_servo2(self):
"""Executed when timer_servo2 is triggered.
"""
self.task = 2
def callback_kx(self, line):
"""Executed when a changement on a Kx switches is detected.
"""
self.task = 3
def callback_monitor(self):
"""Executed when timer_monitor is triggered.
"""
self.task = 4
def apply_cmd(self, cmd):
if len(cmd) == 1: # Request
pass
else:
if cmd[0] == "kp":
self.servo[int(cmd[1])].ctrl.kp = cmd[2]
elif cmd[0] == "ki":
self.servo[int(cmd[1])].ctrl.ki = cmd[2]
elif cmd[0] == "sp":
self.servo[int(cmd[1])].ctrl.sp = cmd[2]
elif cmd[0] == "osp":
self.servo[int(cmd[1])].ctrl.osp = cmd[2]
elif cmd[0] == "imax":
self.servo[int(cmd[1])].ctrl.imax = cmd[2]
elif cmd[0] == "omax":
self.servo[int(cmd[1])].ctrl.omax = cmd[2]
elif cmd[0] == "oscale":
self.servo[int(cmd[1])].ctrl.oscale = cmd[2]
elif cmd[0] == "fs":
self.timer_servo[int(cmd[1])].freq(cmd[2])
def handle_servo_state(self):
"""Handle controller with respect to pin values.
"""
if self.switches.p1.value() == 1:
self.servo[0].enable(True)
if self.switches.i1.value() == 1:
self.servo[0].ctrl.enable_int(True)
else:
self.servo[0].ctrl.enable_int(False)
else:
self.servo[0].enable(False)
self.servo[0].reset()
if self.switches.p2.value() == 1:
self.servo[1].enable(True)
if self.switches.i2.value() == 1:
self.servo[1].ctrl.enable_int(True)
else:
self.servo[1].ctrl.enable_int(False)
else:
self.servo[1].enable(False)
self.servo[1].reset()
def init_servo_parameters(self):
for s in self.servo:
s.ctrl.kp = 0
s.ctrl.ki = 0
s.ctrl.sp = 0
def build_switches(self):
switches = Switches(pyb.Pin(PIN_KP1),
pyb.Pin(PIN_KI1),
pyb.Pin(PIN_KP2),
pyb.Pin(PIN_KI2))
irqs = Switches(pyb.ExtInt(switches.p1,
pyb.ExtInt.IRQ_RISING_FALLING,
pyb.Pin.PULL_UP,
self.callback_kx),
pyb.ExtInt(switches.i1,
pyb.ExtInt.IRQ_RISING_FALLING,
pyb.Pin.PULL_UP,
self.callback_kx),
pyb.ExtInt(switches.p2,
pyb.ExtInt.IRQ_RISING_FALLING,
pyb.Pin.PULL_UP,
self.callback_kx),
pyb.ExtInt(switches.i2,
pyb.ExtInt.IRQ_RISING_FALLING,
pyb.Pin.PULL_UP,
self.callback_kx))
return switches, irqs
def run(self):
while True:
if self.task == 3: # Handle events on switches
self.handle_servo_state()
self.task = 0
elif self.task == 1: # Servo1 computation process
self.servo[0].compute()
self.task = 0
elif self.task == 2: # Servo2 computation process
self.servo[1].compute()
self.task = 0
elif self.task == 4: # Get values to user (monitoring)
print("{:d}\t{:d}\t{:d}\t{:d}\t{:d}\t{:d}".format(
self.servo[0].yn, self.servo[0].un,
self.servo[0].ctrl.integrator,
self.servo[1].yn, self.servo[1].un,
self.servo[1].ctrl.integrator))
self.task = 0
else: # => task = 0, wait request from user
self.scom.poller.poll(250)
if self.scom.vcom.any():
msg = self.scom.read_message()
if msg is not None:
cmd = self.scom.decode_message(msg)
if cmd is not None:
self.apply_cmd(cmd)
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