diff --git a/Code/MainParticleNetworking.ipynb b/Code/MainParticleNetworking.ipynb
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index 0000000000000000000000000000000000000000..32526d000409d8d54858edd667789beb3b774102
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@@ -0,0 +1,1939 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "Using TensorFlow backend.\n"
+ ]
+ }
+ ],
+ "source": [
+ "#imports\n",
+ "import socket #used for networking\n",
+ "import numpy as np\n",
+ "from io import StringIO #needed to convert data to send via socket\n",
+ "import struct\n",
+ "\n",
+ "#drawing tools\n",
+ "import matplotlib\n",
+ "from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg\n",
+ "from matplotlib.figure import Figure\n",
+ "from matplotlib.axes import Axes\n",
+ "from matplotlib.cm import Greys\n",
+ "from tkinter import *\n",
+ "matplotlib.use('TkAgg')\n",
+ "\n",
+ "lastlocalmap = np.full((10,10),-1)\n",
+ "\n",
+ "%run RobotGameEnvironment.ipynb\n",
+ "%run QN_alldirrobot.ipynb"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#functions for sending and receiving messages\n",
+ "#each message is prefixed by an int lenght, used to receive the hole lenght of message afterwards\n",
+ "def send_msg(sock, msg):\n",
+ " # Prefix each message with a 4-byte length (network byte order)\n",
+ " msg = struct.pack('>I', len(msg)) + msg\n",
+ " sock.sendall(msg)\n",
+ "\n",
+ "def recv_msg(sock):\n",
+ " # Read message length and unpack it into an integer\n",
+ " raw_msglen = recvall(sock, 4)\n",
+ " if not raw_msglen:\n",
+ " return None\n",
+ " msglen = struct.unpack('>I', raw_msglen)[0]\n",
+ " # Read the message data\n",
+ " return recvall(sock, msglen)\n",
+ "\n",
+ "def recvall(sock, n):\n",
+ " # Helper function to recv n bytes or return None if EndOfFile is hit\n",
+ " data = bytearray()\n",
+ " while len(data) < n:\n",
+ " packet = sock.recv(n - len(data))\n",
+ " if not packet:\n",
+ " return None\n",
+ " data.extend(packet)\n",
+ " return data"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def particleclient(tk,host=socket.gethostname(),port=4223):\n",
+ " #host = 'AirujoRaspberry'#socket.gethostname() # get local machine name\n",
+ " #port = 4223 # Make sure it's within the > 1024 $$ <65535 range\n",
+ " \n",
+ " #connect networking socket to robot host\n",
+ " s = socket.socket()\n",
+ " s.connect((host, port))\n",
+ " \n",
+ " #initialize particlefilter:\n",
+ " parcount = 100\n",
+ " #global allparticles\n",
+ " allparticles = []\n",
+ " for i in range(parcount):\n",
+ " allparticles.append(particle(0,0,0))\n",
+ " \n",
+ " \n",
+ " \n",
+ " #movementbuttons\n",
+ " manb = Button(tk, text=\"Manual Controls\", command=tk.destroy, state=DISABLED)\n",
+ " manb.grid(row = 8, column = 1,columnspan = 3)\n",
+ " forb = Button(tk, text=\"Forward\", command=lambda: movemessage(\"forward\",s,allparticles))\n",
+ " forb.grid(row = 9, column = 2,columnspan = 1)\n",
+ " backb = Button(tk, text=\"Backward\", command=lambda: movemessage(\"backward\",s,allparticles))\n",
+ " backb.grid(row = 11, column = 2,columnspan = 1)\n",
+ " leftb = Button(tk, text=\"Left\", command=lambda: movemessage(\"left\",s,allparticles))\n",
+ " leftb.grid(row = 10, column = 1,columnspan = 1)\n",
+ " rightb = Button(tk, text=\"right\", command=lambda: movemessage(\"right\",s,allparticles))\n",
+ " rightb.grid(row = 10, column = 3,columnspan = 1) \n",
+ " \n",
+ " #explore and relocate\n",
+ " leftb = Button(tk, text=\"Explore\", command=lambda: explore_a_relocate(\"explore\",s,allparticles))\n",
+ " leftb.grid(row = 13, column = 1,columnspan = 1)\n",
+ " rightb = Button(tk, text=\"Relocate\", command=lambda: explore_a_relocate(\"relocate\",s,allparticles))\n",
+ " rightb.grid(row = 13, column = 3,columnspan = 1) \n",
+ " \n",
+ " #automatic\n",
+ " autob = Button(tk, text=\"QN-Choices\", command=lambda: playonTk_withdqn(RobotGame(s,allparticles),statesize=4,loadweights = str(input(\"which weights?\")),tk=tk))\n",
+ " autob.grid(row = 15, column = 1,columnspan = 2)\n",
+ " \n",
+ " disconnb = Button(tk, text=\"Disconnect\", command=lambda: movemessage(\"q\",s,allparticles))\n",
+ " disconnb.grid(row = 21, column = 9,columnspan = 2)\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def movemessage(message,socket,allparticles,drawing = True):\n",
+ " global lastlocalmap\n",
+ " if message == \"reset\":\n",
+ " send_msg(socket,message.encode('utf-8'))\n",
+ " donemsg = recv_msg(socket)\n",
+ " breakcondition,reward = False,0\n",
+ " elif message != 'q':\n",
+ " if movement_allowed(lastlocalmap,message):\n",
+ " wheeldist = 19.5 # distance of the two wheels, needed to calc the orders send to robot\n",
+ " \n",
+ " startangle = allparticles[bestparticle].angle\n",
+ " #print(localmap)\n",
+ " #transfer action message into wheelchanges\n",
+ " if message == \"forward\":\n",
+ " #changescaling = 0.7074\n",
+ " #speeds for for/backward are chosen so that robot travels 10cm\n",
+ " #wheelleft = 0.7074\n",
+ " #wheelright = 0.7074\n",
+ " \n",
+ " #change from simple forward drive to driving to cell in front of me - this means also correcting angle\n",
+ " direction = int(startangle/(np.pi/2)+0.5)\n",
+ " aimangle = np.pi/2*direction\n",
+ " if startangle < 0:\n",
+ " direction = int(startangle/(np.pi/2)-0.5)\n",
+ " aimangle = np.pi/2*int(startangle/(np.pi/2)-0.5)\n",
+ " anglechange = aimangle-startangle\n",
+ " if abs(anglechange) < 0.01: #small angle approx\n",
+ " if direction%4 == 0:\n",
+ " distchange = 10/np.cos(startangle)\n",
+ " elif direction%4 == 1:\n",
+ " distchange = 10/np.sin(startangle)\n",
+ " elif direction%4 == 2:\n",
+ " distchange = -10/np.cos(startangle)\n",
+ " elif direction%4 == 3:\n",
+ " distchange = -10/np.sin(startangle)\n",
+ " elif direction%4 == 0:\n",
+ " distchange = 10*anglechange/(-np.sin(startangle)+np.sin(startangle+anglechange))\n",
+ " elif direction%4 == 1:\n",
+ " distchange = 10*anglechange/(np.cos(startangle)-np.cos(startangle+anglechange))\n",
+ " elif direction%4 == 2:\n",
+ " distchange = -10*anglechange/(-np.sin(startangle)+np.sin(startangle+anglechange))\n",
+ " elif direction%4 == 3:\n",
+ " distchange = -10*anglechange/(np.cos(startangle)-np.cos(startangle+anglechange))\n",
+ " #calc wheelright and wheelleft from distance and angle - changes\n",
+ " wheelright = 2/np.pi*(2*distchange/wheeldist + anglechange)\n",
+ " wheelleft = wheelright - 4*anglechange/np.pi\n",
+ " \n",
+ " elif message == \"backward\":\n",
+ " #changescaling = 0.7074\n",
+ " #wheelleft = -0.7074\n",
+ " #wheelright = -0.7074\n",
+ " \n",
+ " \n",
+ " #change from simple backward drive to driving to cell behind me - this means also correcting angle\n",
+ " direction = int(startangle/(np.pi/2)+0.5)\n",
+ " aimangle = np.pi/2*direction\n",
+ " if startangle < 0:\n",
+ " direction = int(startangle/(np.pi/2)-0.5)\n",
+ " aimangle = np.pi/2*int(startangle/(np.pi/2)-0.5)\n",
+ " anglechange = aimangle-startangle\n",
+ " if abs(anglechange) < 0.01: #small angle approx\n",
+ " if direction%4 == 0:\n",
+ " distchange = -10/np.cos(startangle)\n",
+ " elif direction%4 == 1:\n",
+ " distchange = -10/np.sin(startangle)\n",
+ " elif direction%4 == 2:\n",
+ " distchange = 10/np.cos(startangle)\n",
+ " elif direction%4 == 3:\n",
+ " distchange = 10/np.sin(startangle)\n",
+ " elif direction%4 == 0:\n",
+ " distchange = -10*anglechange/(-np.sin(startangle)+np.sin(startangle+anglechange))\n",
+ " elif direction%4 == 1:\n",
+ " distchange = -10*anglechange/(np.cos(startangle)-np.cos(startangle+anglechange))\n",
+ " elif direction%4 == 2:\n",
+ " distchange = 10*anglechange/(-np.sin(startangle)+np.sin(startangle+anglechange))\n",
+ " elif direction%4 == 3:\n",
+ " distchange = 10*anglechange/(np.cos(startangle)-np.cos(startangle+anglechange))\n",
+ " #calc wheelright and wheelleft from distance and angle - changes\n",
+ " wheelright = 2/np.pi*(2*distchange/wheeldist + anglechange)\n",
+ " wheelleft = wheelright - 4*anglechange/np.pi\n",
+ " \n",
+ " elif message == \"left\":\n",
+ " #turn into a 90degree position not by 90degree e.g. if startangle is -10° turn to +90° not +80°\n",
+ " aimangle = np.pi/2*int((startangle+np.pi/2)/(np.pi/2)+0.5)\n",
+ " if (startangle+np.pi/2) < 0: #different int casting for negatives\n",
+ " aimangle = np.pi/2*int((startangle+np.pi/2)/(np.pi/2)-0.5)\n",
+ " changeangle = aimangle-startangle\n",
+ " changescaling = (abs(2*changeangle/np.pi))\n",
+ " \n",
+ " wheelleft = -1*changescaling\n",
+ " wheelright = 1*changescaling\n",
+ " elif message == \"right\":\n",
+ " #turn into a 90° position not by 90° e.g. if startangle is -10° turn to -90° not -100°\n",
+ " aimangle = np.pi/2*int((startangle-np.pi/2)/(np.pi/2)+0.5)\n",
+ " if (startangle-np.pi/2) < 0: #different int casting for negatives\n",
+ " aimangle = np.pi/2*int((startangle-np.pi/2)/(np.pi/2)-0.5)\n",
+ " changeangle = aimangle-startangle\n",
+ " changescaling = (abs(2*changeangle/np.pi))\n",
+ " \n",
+ " wheelleft = 1*changescaling\n",
+ " wheelright = -1*changescaling\n",
+ " else:\n",
+ " #moving forward with 0 velocity is equivalent to staying at position\n",
+ " message = \"Forward\"\n",
+ " changescaling = 0\n",
+ " wheelleft = 0\n",
+ " wheelright = 0 \n",
+ " \n",
+ " #compose the message\n",
+ " message = message + \"#\" + str(wheelleft) + \"#\" + str(wheelright)\n",
+ " #send message\n",
+ " send_msg(socket,message.encode('utf-8')) \n",
+ " #receive message and convert it to a localmap\n",
+ " nptest = recv_msg(socket)\n",
+ " localm = np.frombuffer(nptest)\n",
+ " localdim = int(np.sqrt(len(localm)))\n",
+ " localmap = localm.reshape((localdim,localdim))\n",
+ "\n",
+ "\n",
+ " #execute the particle filter step and receive a reward\n",
+ " reward = particle_filter(allparticles,localmap,wheelleft,wheelright)\n",
+ " if drawing == True: #draw if wanted\n",
+ " global figglobe\n",
+ " global axesglobe\n",
+ " global figlocal\n",
+ " global axeslocal\n",
+ " draw_particles(allparticles,figglobe,axesglobe)\n",
+ " draw_localmap(localmap,figlocal,axeslocal)\n",
+ " #print(allparticles[0].counter)\n",
+ " \n",
+ " #keep track of the previous localmap\n",
+ " lastlocalmap = localmap\n",
+ " #all good no need to break\n",
+ " breakcondition = False\n",
+ " else:\n",
+ " breakcondition = True #movement was not allowed break movement loop\n",
+ " reward = 0 #no reward in this case\n",
+ " \n",
+ " else: #message is \"q\", this ends the connection\n",
+ " send_msg(socket,message.encode('utf-8'))\n",
+ " socket.close()\n",
+ " breakcondition = True\n",
+ " reward = 0\n",
+ " #calculate the standard deviation of the particle ensemble \n",
+ " new_uncertainty = calc_uncertainty(allparticles)\n",
+ " #return if one should stop, the reward und the particle spread\n",
+ " return breakcondition, reward, new_uncertainty\n",
+ " \n",
+ "def explore_a_relocate(choice,socket,allparticles):\n",
+ " #function creates and loops through the ordelist of explore and relocate\n",
+ " continues = True\n",
+ " targetlocation = 'none'\n",
+ " while continues == True:\n",
+ " continues = False\n",
+ " #use explore and retrace functions on bestparticle to obtain orderlist\n",
+ " if choice == \"explore\":\n",
+ " orderlist = allparticles[bestparticle].nearest_unobserved()\n",
+ " else:\n",
+ " orderlist, targetlocation = allparticles[bestparticle].retrace(aim_for = targetlocation)\n",
+ " for i in range(len(orderlist)): #loop through orderlist\n",
+ " breakcondition,rew,new_unc = movemessage(orderlist[i],socket,allparticles)\n",
+ " if breakcondition == True: #something was wrong -> stop\n",
+ " break\n",
+ " if i > 7 and (len(orderlist)-i)>7:\n",
+ " #to avoid to long exploration/relocate paths consider recalculating your path after some steps\n",
+ " continues = True\n",
+ " break\n",
+ " "
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#the main tk window\n",
+ "def tk_main(host=socket.gethostname(),port=4223):\n",
+ " #set up tk window\n",
+ " tk = Tk()\n",
+ " tk.title(\"Pyborg Explo\")\n",
+ " tk.resizable(0, 0)\n",
+ " \n",
+ " #globals for figures\n",
+ " global figglobe\n",
+ " global axesglobe\n",
+ " global figlocal\n",
+ " global axeslocal\n",
+ " \n",
+ " #initialise global and local map figures\n",
+ " figglobe = Figure(figsize=(6,6))\n",
+ " axesglobe = Axes(figglobe,[0.,0.,1.,1.])#figglobe.add_subplot(111)\n",
+ " figglobe.add_axes(axesglobe)\n",
+ " axesglobe.set_axis_off()\n",
+ "\n",
+ " figlocal = Figure(figsize=(1,1))\n",
+ " axeslocal = Axes(figlocal,[0.,0.,1.,1.])#figglobe.add_subplot(111)\n",
+ " figlocal.add_axes(axeslocal)\n",
+ " axeslocal.set_axis_off()\n",
+ "\n",
+ " \n",
+ " #Buttons\n",
+ " globalmap = FigureCanvasTkAgg(figglobe,master=tk)#Canvas(tk, width=600, height=600, bd=0, bg=\"#222222\")\n",
+ " globalmap.get_tk_widget().grid(row = 1, column = 4,columnspan = 20, rowspan = 20)\n",
+ " localmap = FigureCanvasTkAgg(figlocal,master=tk)#Canvas(tk, width=150, height=150, bd=0, bg=\"#222222\")\n",
+ " localmap.get_tk_widget().grid(row = 1, column = 1,columnspan = 3, rowspan = 3)\n",
+ "\n",
+ "\n",
+ " autob = Button(tk, text=\"Auto Controls\", command=tk.destroy,state=DISABLED)\n",
+ " autob.grid(row = 14, column = 1,columnspan = 3)\n",
+ " #connect and quit\n",
+ " connb = Button(tk, text=\"Connect\", command=lambda: particleclient(tk,host=host,port=port))\n",
+ " connb.grid(row = 21, column = 7,columnspan = 2)\n",
+ "\n",
+ " quitb = Button(tk, text=\"Quit\", command=tk.destroy)\n",
+ " quitb.grid(row = 21, column = 13,columnspan = 2)\n",
+ " \n",
+ " ##text log, currently completely unused, but could be used\n",
+ " #log = Text(tk, height=37, width=20)\n",
+ " #log.grid(row = 2, column = 25,columnspan = 3,rowspan=19)\n",
+ " #log.insert(END,\"lots of text stuff\\n and more\")\n",
+ "\n",
+ " #initialize the figures by some test stuff\n",
+ " test = np.zeros((20,20))\n",
+ " test[10][10] = 1\n",
+ " axesglobe.imshow(test, interpolation='nearest',cmap=Greys,origin = 'lower')\n",
+ " axeslocal.imshow(test, interpolation='nearest',cmap=Greys,origin = 'lower')\n",
+ "\n",
+ " #update window\n",
+ " tk.update()\n",
+ "\n",
+ " tk.mainloop()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 6,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#for learning dont use a tk window, just play the robotgame without any drawing\n",
+ "def particleclient_learning(host=socket.gethostname(),port = 4223):\n",
+ " # Make sure the port is within the > 1024 $$ <65535 range\n",
+ " \n",
+ " s = socket.socket()\n",
+ " s.connect((host, port))\n",
+ " \n",
+ " #initialize particlefilter:\n",
+ " parcount = 100\n",
+ " #global allparticles\n",
+ " allparticles = []\n",
+ " for i in range(parcount):\n",
+ " allparticles.append(particle(0,0,0))\n",
+ " \n",
+ " \n",
+ " \n",
+ " environment = RobotGame(s,allparticles) #set up environment\n",
+ " #choose possible loading weight, leave blank for none\n",
+ " learn_dqn(environment,loadweights = str(input(\"choose loading weights\")))\n",
+ " \n",
+ " #after learning end the connection by quit message\n",
+ " movemessage(\"q\",s,allparticles)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 7,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#particleclient_learning(port=4223) #use this for learning"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "which weights?alldirexplorandmap2_autosave728_weights.h5\n",
+ "WARNING:tensorflow:From e:\\anaconda\\envs\\neuralnetsnew\\lib\\site-packages\\tensorflow\\python\\framework\\op_def_library.py:263: colocate_with (from tensorflow.python.framework.ops) is deprecated and will be removed in a future version.\n",
+ "Instructions for updating:\n",
+ "Colocations handled automatically by placer.\n",
+ "0\n",
+ "0.0 0.0 0.0\n",
+ "action = 0\n",
+ "0\n",
+ "9.911177819840916 0.0 0.004883784445923577\n",
+ "79\n",
+ "19.94352526084031 1.1121502644512522 0.06936808115203257\n",
+ "74\n",
+ "29.710058339539742 -0.4259590305377062 -0.07271519924387745\n",
+ "72\n",
+ "40.094225600069144 0.06297259536432875 0.02158450961845771\n",
+ "67\n",
+ "49.88562393819386 -1.5589402624719355 -0.06342587336736671\n",
+ "2\n",
+ "60.198592710321876 -0.17775033663221507 0.018020529355017238\n",
+ "60\n",
+ "69.8198507046842 -1.5140294544937825 -0.04091367336102306\n",
+ "39\n",
+ "80.36086821194765 1.1563302666754813 0.0867295635430214\n",
+ "28\n",
+ "90.18885467033343 2.4104770392677817 0.01741696656088769\n",
+ "action = 0\n",
+ "12\n",
+ "99.76767804200792 2.7778460594668672 0.022304941499999585\n",
+ "58\n",
+ "109.70503224236397 1.5632634815917505 -0.06591184829586501\n",
+ "47\n",
+ "120.06891990972005 0.2182399962428434 -0.026924316825692893\n",
+ "32\n",
+ "130.01793563474598 -0.5530979132808937 0.024464637071770004\n",
+ "43\n",
+ "139.81690764571619 1.601774684523146 0.051522683104123966\n",
+ "1\n",
+ "150.3210587379449 -5.745506581424545 -0.15660443195993515\n",
+ "1\n",
+ "159.96041168412498 -0.889529759746452 0.009308237139236744\n",
+ "15\n",
+ "170.1591327643228 -7.648081063865034 0.07114402125594907\n",
+ "52\n",
+ "180.45661162918293 -9.881567799888208 -0.055506238047366936\n",
+ "action = 0\n",
+ "4\n",
+ "189.97332526579834 -9.294035118554325 0.05120082040477762\n",
+ "0\n",
+ "199.44109625928684 3.7382512556596375 -0.0027166365327544392\n",
+ "9\n",
+ "199.74665748372502 0.27447507025728574 1.5044452838766775\n",
+ "58\n",
+ "200.05586364356776 2.522634886483128 1.6506884563467592\n",
+ "13\n",
+ "198.83066096968548 12.590747577541519 1.565202978317461\n",
+ "59\n",
+ "200.54851061304285 19.41620258959253 1.522508210067771\n",
+ "70\n",
+ "198.78715610125292 45.140225571019705 1.6075804730622072\n",
+ "44\n",
+ "198.82305982497013 45.938856856475134 1.5497122276777195\n",
+ "64\n",
+ "199.20559462702704 43.75470301533377 3.129633807497952\n",
+ "action = 0\n",
+ "22\n",
+ "209.25438861096342 43.72739627356835 3.1482722010060753\n",
+ "20\n",
+ "208.12045430824142 42.69351583930252 1.5337148297827528\n",
+ "12\n",
+ "215.05859414649802 48.84765671228461 1.5019529260644517\n",
+ "29\n",
+ "209.7727106232872 60.83800809954501 1.6331380588464575\n",
+ "40\n",
+ "207.68486642777688 72.32853384968381 1.5508748824729248\n",
+ "81\n",
+ "210.8017673668802 82.38933018931894 1.526865998553663\n",
+ "64\n",
+ "207.44295137691356 92.19407069717093 1.6085051767680676\n",
+ "20\n",
+ "207.776060442259 102.3088516206813 1.5613721905794136\n",
+ "47\n",
+ "207.63726671971227 112.27756141095112 1.6084303326652085\n",
+ "64\n",
+ "212.59433395528032 120.50679946440762 1.4678699599804448\n",
+ "88\n",
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+ "-74.95985520824468 -82.6074921796887 15.665832293843081\n",
+ "75\n",
+ "-95.03150521741837 -89.33009775390083 15.846680057713984\n",
+ "10\n",
+ "-89.76922664989134 -90.58881394991865 17.2826916185525\n",
+ "1\n",
+ "-94.69999754322967 -96.23011067241211 17.130095997158435\n",
+ "18\n",
+ "-97.60399859019896 -107.34222819908145 17.300944645827244\n",
+ "3\n",
+ "-97.6021649255242 -107.34034908879633 15.708465013256836\n",
+ "35\n",
+ "-105.6273383396967 -107.8318768619108 15.747509681841388\n",
+ "10\n",
+ "-93.64527604850608 -108.68815398299266 17.383140532927733\n",
+ "1\n",
+ "-106.18385048377908 -117.61243032819483 17.16620489265439\n",
+ "22\n",
+ "-108.07056295139759 -117.44631203705342 15.709008285622144\n",
+ "12\n",
+ "-127.3015614410063 -106.9464473372989 15.447084337130708\n",
+ "47\n",
+ "-121.18299353217867 -115.88410175127706 17.42906962732604\n",
+ "90\n",
+ "-115.9255585309381 -127.57456847668355 17.448621353339085\n",
+ "86\n",
+ "-115.9260853756948 -127.57519949088228 15.719589751494134\n",
+ "35\n",
+ "-130.50583640090898 -117.5057701172676 15.502094754633953\n",
+ "3\n",
+ "-136.14256196923725 -127.03952654142734 15.850183903826329\n",
+ "32\n",
+ "-149.89834259863247 -124.99873952376292 15.662717892400403\n",
+ "36\n",
+ "-141.378025762343 -131.2376377391608 15.810204280085905\n",
+ "14\n",
+ "-150.69810712234505 -132.34896021804656 15.715262969225623\n",
+ "89\n",
+ "-150.5138453832691 -134.3270093533676 14.170757306915746\n",
+ "52\n",
+ "-167.52654709214724 -107.90920232587077 13.852605533521238\n",
+ "action = 0\n",
+ "42\n",
+ "-149.18864828561595 -131.91425162294098 14.379824843605222\n",
+ "4\n",
+ "-149.18732423674314 -131.9152885730088 15.708612753837606\n",
+ "51\n",
+ "-172.97333618012345 -128.6443702942755 15.655815295854456\n",
+ "11\n",
+ "-190.13673137114418 -111.87730992060611 15.61908614095781\n",
+ "10\n",
+ "-179.2785596099693 -132.32906979438425 15.81135442539465\n",
+ "40\n",
+ "-188.25007711329891 -138.74221606483715 15.744061815725905\n",
+ "14\n",
+ "-219.87399958714443 -109.94698191741938 15.575246111575705\n",
+ "43\n",
+ "-229.92150295905998 -112.23011366914601 15.741522633669973\n",
+ "49\n",
+ "-239.76479494792196 -112.8531559460775 15.73522091993528\n",
+ "13\n",
+ "-228.08026960400807 -141.6790628519968 15.743186459509305\n",
+ "26\n",
+ "-256.1257667679497 -84.01887234126106 15.33779584859576\n",
+ "71\n",
+ "-269.09619953870657 -103.39528765916089 15.91600897952604\n",
+ "action = 0\n",
+ "49\n",
+ "-276.39878024186294 -82.2595344427933 15.564462887016612\n",
+ "14\n",
+ "-286.4633026469543 -81.67686124917738 15.735849981778703\n",
+ "53\n",
+ "-290.80210564188405 -148.48591430447715 16.131852969304834\n",
+ "30\n",
+ "-309.15305504857776 -106.89641979435497 15.482761848659997\n",
+ "68\n",
+ "-297.7818131248435 -150.418695129514 15.820717209347093\n",
+ "52\n",
+ "-329.1000953899441 -104.43666105974131 15.550172414060395\n",
+ "9\n",
+ "-340.2382708343311 -104.55184547121989 15.666659894653966\n",
+ "20\n",
+ "-350.3776066419198 -122.30371157644954 15.865391235933552\n"
+ ]
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "1\n",
+ "-352.0032216761207 -151.27291888760237 15.718761104605068\n",
+ "10\n",
+ "-361.9124452328594 -151.37992122357346 15.71435662294111\n",
+ "action = 0\n",
+ "no orders in explore\n",
+ "45\n",
+ "-336.85497897826235 -161.49233898967478 15.748742479017979\n",
+ "action = 0\n",
+ "no orders in explore\n",
+ "80\n",
+ "-343.2575169105909 -143.46617553430332 15.625885641332776\n",
+ "action = 0\n",
+ "no orders in explore\n",
+ "3\n",
+ "-340.0855740527063 -122.33844655559338 15.734950722340391\n"
+ ]
+ }
+ ],
+ "source": [
+ "tk_main(host=socket.gethostname(),port=4244) #'AirujoRasperry',port=4223) #use this to visualize what was learned (or test something)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.8"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/Code/Pyborg_Robot_Scripts/ThunderBorg3.py b/Code/Pyborg_Robot_Scripts/ThunderBorg3.py
new file mode 100644
index 0000000000000000000000000000000000000000..7fe1c8cac1a53092d214ca3d9d45c32486828102
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/ThunderBorg3.py
@@ -0,0 +1,908 @@
+#!/usr/bin/env python
+# coding: latin-1
+"""
+This module is designed to communicate with the ThunderBorg
+
+Use by creating an instance of the class, call the Init function, then command as desired, e.g.
+import ThunderBorg
+TB = ThunderBorg.ThunderBorg()
+TB.Init()
+# User code here, use TB to control the board
+
+Multiple boards can be used when configured with different I²C addresses by creating multiple instances, e.g.
+import ThunderBorg
+TB1 = ThunderBorg.ThunderBorg()
+TB2 = ThunderBorg.ThunderBorg()
+TB1.i2cAddress = 0x15
+TB2.i2cAddress = 0x1516
+TB1.Init()
+TB2.Init()
+# User code here, use TB1 and TB2 to control each board separately
+
+For explanations of the functions available call the Help function, e.g.
+import ThunderBorg
+TB = ThunderBorg.ThunderBorg()
+TB.Help()
+See the website at www.piborg.org/thunderborg for more details
+"""
+
+# Import the libraries we need
+import io
+import fcntl
+import types
+import time
+
+# Constant values
+I2C_SLAVE = 0x0703
+PWM_MAX = 255
+I2C_MAX_LEN = 6
+VOLTAGE_PIN_MAX = 36.3 # Maximum voltage from the analog voltage monitoring pin
+VOLTAGE_PIN_CORRECTION = 0.0 # Correction value for the analog voltage monitoring pin
+BATTERY_MIN_DEFAULT = 7.0 # Default minimum battery monitoring voltage
+BATTERY_MAX_DEFAULT = 35.0 # Default maximum battery monitoring voltage
+
+I2C_ID_THUNDERBORG = 0x15
+
+COMMAND_SET_LED1 = 1 # Set the colour of the ThunderBorg LED
+COMMAND_GET_LED1 = 2 # Get the colour of the ThunderBorg LED
+COMMAND_SET_LED2 = 3 # Set the colour of the ThunderBorg Lid LED
+COMMAND_GET_LED2 = 4 # Get the colour of the ThunderBorg Lid LED
+COMMAND_SET_LEDS = 5 # Set the colour of both the LEDs
+COMMAND_SET_LED_BATT_MON = 6 # Set the colour of both LEDs to show the current battery level
+COMMAND_GET_LED_BATT_MON = 7 # Get the state of showing the current battery level via the LEDs
+COMMAND_SET_A_FWD = 8 # Set motor A PWM rate in a forwards direction
+COMMAND_SET_A_REV = 9 # Set motor A PWM rate in a reverse direction
+COMMAND_GET_A = 10 # Get motor A direction and PWM rate
+COMMAND_SET_B_FWD = 11 # Set motor B PWM rate in a forwards direction
+COMMAND_SET_B_REV = 12 # Set motor B PWM rate in a reverse direction
+COMMAND_GET_B = 13 # Get motor B direction and PWM rate
+COMMAND_ALL_OFF = 14 # Switch everything off
+COMMAND_GET_DRIVE_A_FAULT = 15 # Get the drive fault flag for motor A, indicates faults such as short-circuits and under voltage
+COMMAND_GET_DRIVE_B_FAULT = 16 # Get the drive fault flag for motor B, indicates faults such as short-circuits and under voltage
+COMMAND_SET_ALL_FWD = 17 # Set all motors PWM rate in a forwards direction
+COMMAND_SET_ALL_REV = 18 # Set all motors PWM rate in a reverse direction
+COMMAND_SET_FAILSAFE = 19 # Set the failsafe flag, turns the motors off if communication is interrupted
+COMMAND_GET_FAILSAFE = 20 # Get the failsafe flag
+COMMAND_GET_BATT_VOLT = 21 # Get the battery voltage reading
+COMMAND_SET_BATT_LIMITS = 22 # Set the battery monitoring limits
+COMMAND_GET_BATT_LIMITS = 23 # Get the battery monitoring limits
+COMMAND_WRITE_EXTERNAL_LED = 24 # Write a 32bit pattern out to SK9822 / APA102C
+COMMAND_GET_ID = 0x99 # Get the board identifier
+COMMAND_SET_I2C_ADD = 0xAA # Set a new I2C address
+
+COMMAND_VALUE_FWD = 1 # I2C value representing forward
+COMMAND_VALUE_REV = 2 # I2C value representing reverse
+
+COMMAND_VALUE_ON = 1 # I2C value representing on
+COMMAND_VALUE_OFF = 0 # I2C value representing off
+
+COMMAND_ANALOG_MAX = 0x3FF # Maximum value for analog readings
+
+
+def ScanForThunderBorg(busNumber = 1):
+ """
+ScanForThunderBorg([busNumber])
+
+Scans the I²C bus for a ThunderBorg boards and returns a list of all usable addresses
+The busNumber if supplied is which I²C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+ """
+ found = []
+ print('Scanning I²C bus #%d' % (busNumber))
+ bus = ThunderBorg()
+ for address in range(0x03, 0x78, 1):
+ try:
+ bus.InitBusOnly(busNumber, address)
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_THUNDERBORG:
+ print('Found ThunderBorg at %02X' % (address))
+ found.append(address)
+ else:
+ pass
+ else:
+ pass
+ except KeyboardInterrupt:
+ raise
+ except:
+ pass
+ if len(found) == 0:
+ print('No ThunderBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber))
+ elif len(found) == 1:
+ print('1 ThunderBorg board found')
+ else:
+ print('%d ThunderBorg boards found' % (len(found)))
+ return found
+
+
+def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1):
+ """
+SetNewAddress(newAddress, [oldAddress], [busNumber])
+
+Scans the I²C bus for the first ThunderBorg and sets it to a new I2C address
+If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus
+The busNumber if supplied is which I²C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+Warning, this new I²C address will still be used after resetting the power on the device
+ """
+ if newAddress < 0x03:
+ print('Error, I²C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)')
+ return
+ elif newAddress > 0x77:
+ print('Error, I²C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)')
+ return
+ if oldAddress < 0x0:
+ found = ScanForThunderBorg(busNumber)
+ if len(found) < 1:
+ print('No ThunderBorg boards found, cannot set a new I²C address!')
+ return
+ else:
+ oldAddress = found[0]
+ print('Changing I²C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber))
+ bus = ThunderBorg()
+ bus.InitBusOnly(busNumber, oldAddress)
+ try:
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_THUNDERBORG:
+ foundChip = True
+ print('Found ThunderBorg at %02X' % (oldAddress))
+ else:
+ foundChip = False
+ print('Found a device at %02X, but it is not a ThunderBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_THUNDERBORG))
+ else:
+ foundChip = False
+ print('Missing ThunderBorg at %02X' % (oldAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ foundChip = False
+ print('Missing ThunderBorg at %02X' % (oldAddress))
+ if foundChip:
+ bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
+ time.sleep(0.1)
+ print('Address changed to %02X, attempting to talk with the new address' % (newAddress))
+ try:
+ bus.InitBusOnly(busNumber, newAddress)
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_THUNDERBORG:
+ foundChip = True
+ print('Found ThunderBorg at %02X' % (newAddress))
+ else:
+ foundChip = False
+ print('Found a device at %02X, but it is not a ThunderBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_THUNDERBORG))
+ else:
+ foundChip = False
+ print('Missing ThunderBorg at %02X' % (newAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ foundChip = False
+ print('Missing ThunderBorg at %02X' % (newAddress))
+ if foundChip:
+ print('New I²C address of %02X set successfully' % (newAddress))
+ else:
+ print('Failed to set new I²C address...')
+
+
+# Class used to control ThunderBorg
+class ThunderBorg:
+ """
+This module is designed to communicate with the ThunderBorg
+
+busNumber I²C bus on which the ThunderBorg is attached (Rev 1 is bus 0, Rev 2 is bus 1)
+bus the smbus object used to talk to the I²C bus
+i2cAddress The I²C address of the ThunderBorg chip to control
+foundChip True if the ThunderBorg chip can be seen, False otherwise
+printFunction Function reference to call when printing text, if None "print" is used
+ """
+
+ # Shared values used by this class
+ busNumber = 1 # Check here for Rev 1 vs Rev 2 and select the correct bus
+ i2cAddress = I2C_ID_THUNDERBORG # I²C address, override for a different address
+ foundChip = False
+ printFunction = None
+ i2cWrite = None
+ i2cRead = None
+
+
+ def RawWrite(self, command, data):
+ """
+RawWrite(command, data)
+
+Sends a raw command on the I2C bus to the ThunderBorg
+Command codes can be found at the top of ThunderBorg.py, data is a list of 0 or more byte values
+
+Under most circumstances you should use the appropriate function instead of RawWrite
+ """
+ rawOutput = [command]
+ rawOutput.extend(data)
+ rawOutput = bytes(rawOutput)
+ self.i2cWrite.write(rawOutput)
+
+
+ def RawRead(self, command, length, retryCount = 3):
+ """
+RawRead(command, length, [retryCount])
+
+Reads data back from the ThunderBorg after sending a GET command
+Command codes can be found at the top of ThunderBorg.py, length is the number of bytes to read back
+
+The function checks that the first byte read back matches the requested command
+If it does not it will retry the request until retryCount is exhausted (default is 3 times)
+
+Under most circumstances you should use the appropriate function instead of RawRead
+ """
+ while retryCount > 0:
+ self.RawWrite(command, [])
+ rawReply = self.i2cRead.read(length)
+ reply = []
+ for singleByte in rawReply:
+ reply.append(singleByte)
+ if command == reply[0]:
+ break
+ else:
+ retryCount -= 1
+ if retryCount > 0:
+ return reply
+ else:
+ raise IOError('I2C read for command %d failed' % (command))
+
+
+ def InitBusOnly(self, busNumber, address):
+ """
+InitBusOnly(busNumber, address)
+
+Prepare the I2C driver for talking to a ThunderBorg on the specified bus and I2C address
+This call does not check the board is present or working, under most circumstances use Init() instead
+ """
+ self.busNumber = busNumber
+ self.i2cAddress = address
+ self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+ fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+ self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+ fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+
+ def Print(self, message):
+ """
+Print(message)
+
+Wrapper used by the ThunderBorg instance to print(messages, will call printFunction if set, print otherwise)
+ """
+ if self.printFunction == None:
+ print(message)
+ else:
+ self.printFunction(message)
+
+
+ def NoPrint(self, message):
+ """
+NoPrint(message)
+
+Does nothing, intended for disabling diagnostic printout by using:
+TB = ThunderBorg.ThunderBorg()
+TB.printFunction = TB.NoPrint
+ """
+ pass
+
+
+ def Init(self, tryOtherBus = False):
+ """
+Init([tryOtherBus])
+
+Prepare the I2C driver for talking to the ThunderBorg
+
+If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on the current busNumber
+ This is only really useful for early Raspberry Pi models!
+ """
+ self.Print('Loading ThunderBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress))
+
+ # Open the bus
+ self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+ fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+ self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+ fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+ # Check for ThunderBorg
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_THUNDERBORG:
+ self.foundChip = True
+ self.Print('Found ThunderBorg at %02X' % (self.i2cAddress))
+ else:
+ self.foundChip = False
+ self.Print('Found a device at %02X, but it is not a ThunderBorg (ID %02X instead of %02X)' % (self.i2cAddress, i2cRecv[1], I2C_ID_THUNDERBORG))
+ else:
+ self.foundChip = False
+ self.Print('Missing ThunderBorg at %02X' % (self.i2cAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.foundChip = False
+ self.Print('Missing ThunderBorg at %02X' % (self.i2cAddress))
+
+ # See if we are missing chips
+ if not self.foundChip:
+ self.Print('ThunderBorg was not found')
+ if tryOtherBus:
+ if self.busNumber == 1:
+ self.busNumber = 0
+ else:
+ self.busNumber = 1
+ self.Print('Trying bus %d instead' % (self.busNumber))
+ self.Init(False)
+ else:
+ self.Print('Are you sure your ThunderBorg is properly attached, the correct address is used, and the I2C drivers are running?')
+ self.bus = None
+ else:
+ self.Print('ThunderBorg loaded on bus %d' % (self.busNumber))
+
+
+ def SetMotor2(self, power):
+ """
+SetMotor2(power)
+
+Sets the drive level for motor 2, from +1 to -1.
+e.g.
+SetMotor2(0) -> motor 2 is stopped
+SetMotor2(0.75) -> motor 2 moving forward at 75% power
+SetMotor2(-0.5) -> motor 2 moving reverse at 50% power
+SetMotor2(1) -> motor 2 moving forward at 100% power
+ """
+ if power < 0:
+ # Reverse
+ command = COMMAND_SET_B_REV
+ pwm = -int(PWM_MAX * power)
+ if pwm > PWM_MAX:
+ pwm = PWM_MAX
+ else:
+ # Forward / stopped
+ command = COMMAND_SET_B_FWD
+ pwm = int(PWM_MAX * power)
+ if pwm > PWM_MAX:
+ pwm = PWM_MAX
+
+ try:
+ self.RawWrite(command, [pwm])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending motor 2 drive level!')
+
+
+ def GetMotor2(self):
+ """
+power = GetMotor2()
+
+Gets the drive level for motor 2, from +1 to -1.
+e.g.
+0 -> motor 2 is stopped
+0.75 -> motor 2 moving forward at 75% power
+-0.5 -> motor 2 moving reverse at 50% power
+1 -> motor 2 moving forward at 100% power
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_B, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading motor 2 drive level!')
+ return
+
+ power = float(i2cRecv[2]) / float(PWM_MAX)
+
+ if i2cRecv[1] == COMMAND_VALUE_FWD:
+ return power
+ elif i2cRecv[1] == COMMAND_VALUE_REV:
+ return -power
+ else:
+ return
+
+
+ def SetMotor1(self, power):
+ """
+SetMotor1(power)
+
+Sets the drive level for motor 1, from +1 to -1.
+e.g.
+SetMotor1(0) -> motor 1 is stopped
+SetMotor1(0.75) -> motor 1 moving forward at 75% power
+SetMotor1(-0.5) -> motor 1 moving reverse at 50% power
+SetMotor1(1) -> motor 1 moving forward at 100% power
+ """
+ if power < 0:
+ # Reverse
+ command = COMMAND_SET_A_REV
+ pwm = -int(PWM_MAX * power)
+ if pwm > PWM_MAX:
+ pwm = PWM_MAX
+ else:
+ # Forward / stopped
+ command = COMMAND_SET_A_FWD
+ pwm = int(PWM_MAX * power)
+ if pwm > PWM_MAX:
+ pwm = PWM_MAX
+
+ try:
+ self.RawWrite(command, [pwm])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending motor 1 drive level!')
+
+
+ def GetMotor1(self):
+ """
+power = GetMotor1()
+
+Gets the drive level for motor 1, from +1 to -1.
+e.g.
+0 -> motor 1 is stopped
+0.75 -> motor 1 moving forward at 75% power
+-0.5 -> motor 1 moving reverse at 50% power
+1 -> motor 1 moving forward at 100% power
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_A, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading motor 1 drive level!')
+ return
+
+ power = float(i2cRecv[2]) / float(PWM_MAX)
+
+ if i2cRecv[1] == COMMAND_VALUE_FWD:
+ return power
+ elif i2cRecv[1] == COMMAND_VALUE_REV:
+ return -power
+ else:
+ return
+
+
+ def SetMotors(self, power):
+ """
+SetMotors(power)
+
+Sets the drive level for all motors, from +1 to -1.
+e.g.
+SetMotors(0) -> all motors are stopped
+SetMotors(0.75) -> all motors are moving forward at 75% power
+SetMotors(-0.5) -> all motors are moving reverse at 50% power
+SetMotors(1) -> all motors are moving forward at 100% power
+ """
+ if power < 0:
+ # Reverse
+ command = COMMAND_SET_ALL_REV
+ pwm = -int(PWM_MAX * power)
+ if pwm > PWM_MAX:
+ pwm = PWM_MAX
+ else:
+ # Forward / stopped
+ command = COMMAND_SET_ALL_FWD
+ pwm = int(PWM_MAX * power)
+ if pwm > PWM_MAX:
+ pwm = PWM_MAX
+
+ try:
+ self.RawWrite(command, [pwm])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending all motors drive level!')
+
+
+ def MotorsOff(self):
+ """
+MotorsOff()
+
+Sets all motors to stopped, useful when ending a program
+ """
+ try:
+ self.RawWrite(COMMAND_ALL_OFF, [0])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending motors off command!')
+
+
+ def SetLed1(self, r, g, b):
+ """
+SetLed1(r, g, b)
+
+Sets the current colour of the ThunderBorg LED. r, g, b may each be between 0 and 1
+e.g.
+SetLed1(0, 0, 0) -> ThunderBorg LED off
+SetLed1(1, 1, 1) -> ThunderBorg LED full white
+SetLed1(1.0, 0.5, 0.0) -> ThunderBorg LED bright orange
+SetLed1(0.2, 0.0, 0.2) -> ThunderBorg LED dull purple
+ """
+ levelR = max(0, min(PWM_MAX, int(r * PWM_MAX)))
+ levelG = max(0, min(PWM_MAX, int(g * PWM_MAX)))
+ levelB = max(0, min(PWM_MAX, int(b * PWM_MAX)))
+
+ try:
+ self.RawWrite(COMMAND_SET_LED1, [levelR, levelG, levelB])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending colour for the ThunderBorg LED!')
+
+
+ def GetLed1(self):
+ """
+r, g, b = GetLed1()
+
+Gets the current colour of the ThunderBorg LED. r, g, b may each be between 0 and 1
+e.g.
+0, 0, 0 -> ThunderBorg LED off
+1, 1, 1 -> ThunderBorg LED full white
+1.0, 0.5, 0.0 -> ThunderBorg LED bright orange
+0.2, 0.0, 0.2 -> ThunderBorg LED dull purple
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_LED1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ThunderBorg LED colour!')
+ return
+
+ r = i2cRecv[1] / float(PWM_MAX)
+ g = i2cRecv[2] / float(PWM_MAX)
+ b = i2cRecv[3] / float(PWM_MAX)
+ return r, g, b
+
+
+ def SetLed2(self, r, g, b):
+ """
+SetLed2(r, g, b)
+
+Sets the current colour of the ThunderBorg Lid LED. r, g, b may each be between 0 and 1
+e.g.
+SetLed2(0, 0, 0) -> ThunderBorg Lid LED off
+SetLed2(1, 1, 1) -> ThunderBorg Lid LED full white
+SetLed2(1.0, 0.5, 0.0) -> ThunderBorg Lid LED bright orange
+SetLed2(0.2, 0.0, 0.2) -> ThunderBorg Lid LED dull purple
+ """
+ levelR = max(0, min(PWM_MAX, int(r * PWM_MAX)))
+ levelG = max(0, min(PWM_MAX, int(g * PWM_MAX)))
+ levelB = max(0, min(PWM_MAX, int(b * PWM_MAX)))
+
+ try:
+ self.RawWrite(COMMAND_SET_LED2, [levelR, levelG, levelB])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending colour for the ThunderBorg Lid LED!')
+
+
+ def GetLed2(self):
+ """
+r, g, b = GetLed2()
+
+Gets the current colour of the ThunderBorg Lid LED. r, g, b may each be between 0 and 1
+e.g.
+0, 0, 0 -> ThunderBorg Lid LED off
+1, 1, 1 -> ThunderBorg Lid LED full white
+1.0, 0.5, 0.0 -> ThunderBorg Lid LED bright orange
+0.2, 0.0, 0.2 -> ThunderBorg Lid LED dull purple
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_LED2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ThunderBorg Lid LED colour!')
+ return
+
+ r = i2cRecv[1] / float(PWM_MAX)
+ g = i2cRecv[2] / float(PWM_MAX)
+ b = i2cRecv[3] / float(PWM_MAX)
+ return r, g, b
+
+
+ def SetLeds(self, r, g, b):
+ """
+SetLeds(r, g, b)
+
+Sets the current colour of both LEDs. r, g, b may each be between 0 and 1
+e.g.
+SetLeds(0, 0, 0) -> Both LEDs off
+SetLeds(1, 1, 1) -> Both LEDs full white
+SetLeds(1.0, 0.5, 0.0) -> Both LEDs bright orange
+SetLeds(0.2, 0.0, 0.2) -> Both LEDs dull purple
+ """
+ levelR = max(0, min(PWM_MAX, int(r * PWM_MAX)))
+ levelG = max(0, min(PWM_MAX, int(g * PWM_MAX)))
+ levelB = max(0, min(PWM_MAX, int(b * PWM_MAX)))
+
+ try:
+ self.RawWrite(COMMAND_SET_LEDS, [levelR, levelG, levelB])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending colour for both LEDs!')
+
+
+ def SetLedShowBattery(self, state):
+ """
+SetLedShowBattery(state)
+
+Sets the system to enable or disable the LEDs showing the current battery level
+If enabled the LED colours will be ignored and will use the current battery reading instead
+This sweeps from fully green for maximum voltage (35 V) to fully red for minimum voltage (7 V)
+ """
+ if state:
+ level = COMMAND_VALUE_ON
+ else:
+ level = COMMAND_VALUE_OFF
+
+ try:
+ self.RawWrite(COMMAND_SET_LED_BATT_MON, [level])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending LED battery monitoring state!')
+
+
+ def GetLedShowBattery(self):
+ """
+state = GetLedShowBattery()
+
+Gets if the system is using the LEDs to show the current battery level, true for enabled, false for disabled
+If enabled the LED colours will be ignored and will use the current battery reading instead
+This sweeps from fully green for maximum voltage (35 V) to fully red for minimum voltage (7 V)
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_LED_BATT_MON, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading LED battery monitoring state!')
+ return
+
+ if i2cRecv[1] == COMMAND_VALUE_OFF:
+ return False
+ else:
+ return True
+
+
+ def SetCommsFailsafe(self, state):
+ """
+SetCommsFailsafe(state)
+
+Sets the system to enable or disable the communications failsafe
+The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second
+Set to True to enable this failsafe, set to False to disable this failsafe
+The failsafe is disabled at power on
+ """
+ if state:
+ level = COMMAND_VALUE_ON
+ else:
+ level = COMMAND_VALUE_OFF
+
+ try:
+ self.RawWrite(COMMAND_SET_FAILSAFE, [level])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending communications failsafe state!')
+
+
+ def GetCommsFailsafe(self):
+ """
+state = GetCommsFailsafe()
+
+Read the current system state of the communications failsafe, True for enabled, False for disabled
+The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FAILSAFE, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading communications failsafe state!')
+ return
+
+ if i2cRecv[1] == COMMAND_VALUE_OFF:
+ return False
+ else:
+ return True
+
+
+ def GetDriveFault1(self):
+ """
+state = GetDriveFault1()
+
+Reads the motor drive fault state for motor #1, False for no problems, True for a fault has been detected
+Faults may indicate power problems, such as under-voltage (not enough power), and may be cleared by setting a lower drive power
+If a fault is persistent, it repeatably occurs when trying to control the board, this may indicate a wiring problem such as:
+ * The supply is not powerful enough for the motors
+ The board has a bare minimum requirement of 6V to operate correctly
+ A recommended minimum supply of 7.2V should be sufficient for smaller motors
+ * The + and - connections for motor #1 are connected to each other
+ * Either + or - is connected to ground (GND, also known as 0V or earth)
+ * Either + or - is connected to the power supply (V+, directly to the battery or power pack)
+ * One of the motors may be damaged
+Faults will self-clear, they do not need to be reset, however some faults require both motors to be moving at less than 100% to clear
+The easiest way to check is to put both motors at a low power setting which is high enough for them to rotate easily, such as 30%
+Note that the fault state may be true at power up, this is normal and should clear when both motors have been driven
+For more details check the website at www.piborg.org/thunderborg and double check the wiring instructions
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_DRIVE_A_FAULT, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading the drive fault state for motor #1!')
+ return
+
+ if i2cRecv[1] == COMMAND_VALUE_OFF:
+ return False
+ else:
+ return True
+
+
+ def GetDriveFault2(self):
+ """
+state = GetDriveFault2()
+
+Reads the motor drive fault state for motor #2, False for no problems, True for a fault has been detected
+Faults may indicate power problems, such as under-voltage (not enough power), and may be cleared by setting a lower drive power
+If a fault is persistent, it repeatably occurs when trying to control the board, this may indicate a wiring problem such as:
+ * The supply is not powerful enough for the motors
+ The board has a bare minimum requirement of 6V to operate correctly
+ A recommended minimum supply of 7.2V should be sufficient for smaller motors
+ * The + and - connections for motor #2 are connected to each other
+ * Either + or - is connected to ground (GND, also known as 0V or earth)
+ * Either + or - is connected to the power supply (V+, directly to the battery or power pack)
+ * One of the motors may be damaged
+Faults will self-clear, they do not need to be reset, however some faults require both motors to be moving at less than 100% to clear
+The easiest way to check is to put both motors at a low power setting which is high enough for them to rotate easily, such as 30%
+Note that the fault state may be true at power up, this is normal and should clear when both motors have been driven
+For more details check the website at www.piborg.org/thunderborg and double check the wiring instructions
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_DRIVE_B_FAULT, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading the drive fault state for motor #2!')
+ return
+
+ if i2cRecv[1] == COMMAND_VALUE_OFF:
+ return False
+ else:
+ return True
+
+
+ def GetBatteryReading(self):
+ """
+voltage = GetBatteryReading()
+
+Reads the current battery level from the main input.
+Returns the value as a voltage based on the 3.3 V rail as a reference.
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_BATT_VOLT, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading battery level!')
+ return
+
+ raw = (i2cRecv[1] << 8) + i2cRecv[2]
+ level = float(raw) / float(COMMAND_ANALOG_MAX)
+ level *= VOLTAGE_PIN_MAX
+ return level + VOLTAGE_PIN_CORRECTION
+
+
+ def SetBatteryMonitoringLimits(self, minimum, maximum):
+ """
+SetBatteryMonitoringLimits(minimum, maximum)
+
+Sets the battery monitoring limits used for setting the LED colour.
+The values are between 0 and 36.3 V.
+The colours shown range from full red at minimum or below, yellow half way, and full green at maximum or higher.
+These values are stored in EEPROM and reloaded when the board is powered.
+ """
+ levelMin = minimum / float(VOLTAGE_PIN_MAX)
+ levelMax = maximum / float(VOLTAGE_PIN_MAX)
+ levelMin = max(0, min(0xFF, int(levelMin * 0xFF)))
+ levelMax = max(0, min(0xFF, int(levelMax * 0xFF)))
+
+ try:
+ self.RawWrite(COMMAND_SET_BATT_LIMITS, [levelMin, levelMax])
+ time.sleep(0.2) # Wait for EEPROM write to complete
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending battery monitoring limits!')
+
+
+ def GetBatteryMonitoringLimits(self):
+ """
+minimum, maximum = GetBatteryMonitoringLimits()
+
+Reads the current battery monitoring limits used for setting the LED colour.
+The values are between 0 and 36.3 V.
+The colours shown range from full red at minimum or below, yellow half way, and full green at maximum or higher.
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_BATT_LIMITS, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading battery monitoring limits!')
+ return
+
+ rawMin = i2cRecv[1]
+ rawMax = i2cRecv[2]
+ levelMin = float(rawMin) / float(0xFF)
+ levelMax = float(rawMax) / float(0xFF)
+ levelMin *= VOLTAGE_PIN_MAX
+ levelMax *= VOLTAGE_PIN_MAX
+ return levelMin, levelMax
+
+
+ def WriteExternalLedWord(self, b0, b1, b2, b3):
+ """
+WriteExternalLedWord(b0, b1, b2, b3)
+
+Low level serial LED word writing.
+Bytes are written MSB first starting from b0
+e.g.
+WriteExtermnalLedWord(255, 64, 1, 0)
+will write out:
+11111111 01000000 00000001 00000000
+to the LEDs.
+ """
+ b0 = max(0, min(PWM_MAX, int(b0)))
+ b1 = max(0, min(PWM_MAX, int(b1)))
+ b2 = max(0, min(PWM_MAX, int(b2)))
+ b3 = max(0, min(PWM_MAX, int(b3)))
+
+ try:
+ self.RawWrite(COMMAND_WRITE_EXTERNAL_LED, [b0, b1, b2, b3])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending word for the external LEDs!')
+
+
+ def SetExternalLedColours(self, colours):
+ """
+SetExternalLedColours([[r, g, b], ..., [r, g, b]])
+
+Takes a set of RGB triples to set each LED to.
+Each call will set all of the LEDs
+e.g.
+SetExternalLedColours([[1.0, 1.0, 0.0]])
+will set a single LED to full yellow.
+SetExternalLedColours([[1.0, 0.0, 0.0], [0.5, 0.0, 0.0], [0.0, 0.0, 0.0]])
+will set LED 1 to full red, LED 2 to half red, and LED 3 to off.
+ """
+ # Send the start marker
+ self.WriteExternalLedWord(0, 0, 0, 0)
+
+ # Send each colour in turn
+ for r, g, b in colours:
+ self.WriteExternalLedWord(255, 255 * b, 255 * g, 255 * r)
+
+
+ def Help(self):
+ """
+Help()
+
+Displays the names and descriptions of the various functions and settings provided
+ """
+ funcList = [ThunderBorg.__dict__.get(a) for a in dir(ThunderBorg) if isinstance(ThunderBorg.__dict__.get(a), types.FunctionType)]
+ funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno)
+
+ print(self.__doc__)
+ print
+ for func in funcListSorted:
+ print('=== %s === %s' % (func.func_name, func.func_doc))
+
diff --git a/Code/Pyborg_Robot_Scripts/UltraBorg.py b/Code/Pyborg_Robot_Scripts/UltraBorg.py
new file mode 100644
index 0000000000000000000000000000000000000000..b259db6f87b04c610eee63571070f7e8c78011db
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/UltraBorg.py
@@ -0,0 +1,1840 @@
+#!/usr/bin/env python
+# coding: latin-1
+"""
+This module is designed to communicate with the UltraBorg
+
+Use by creating an instance of the class, call the Init function, then command as desired, e.g.
+import UltraBorg
+UB = UltraBorg.UltraBorg()
+UB.Init()
+# User code here, use UB to control the board
+
+Multiple boards can be used when configured with different I²C addresses by creating multiple instances, e.g.
+import UltraBorg
+UB1 = UltraBorg.UltraBorg()
+UB2 = UltraBorg.UltraBorg()
+UB1.i2cAddress = 0x44
+UB2.i2cAddress = 0x45
+UB1.Init()
+UB2.Init()
+# User code here, use UB1 and UB2 to control each board separately
+
+For explanations of the functions available call the Help function, e.g.
+import UltraBorg
+UB = UltraBorg.UltraBorg()
+UB.Help()
+See the website at www.piborg.org/ultraborg for more details
+"""
+
+# Import the libraries we need
+import io
+import fcntl
+import types
+import time
+
+# Constant values
+I2C_SLAVE = 0x0703
+I2C_MAX_LEN = 4
+USM_US_TO_MM = 0.171500
+PWM_MIN = 2000 # Should be a 1 ms burst, typical servo minimum
+PWM_MAX = 4000 # Should be a 2 ms burst, typical servo maximum
+DELAY_AFTER_EEPROM = 0.01 # Time to wait after updating an EEPROM value before reading
+PWM_UNSET = 0xFFFF
+
+I2C_ID_SERVO_USM = 0x36
+
+COMMAND_GET_TIME_USM1 = 1 # Get the time measured by ultrasonic #1 in us (0 for no detection)
+COMMAND_GET_TIME_USM2 = 2 # Get the time measured by ultrasonic #2 in us (0 for no detection)
+COMMAND_GET_TIME_USM3 = 3 # Get the time measured by ultrasonic #3 in us (0 for no detection)
+COMMAND_GET_TIME_USM4 = 4 # Get the time measured by ultrasonic #4 in us (0 for no detection)
+COMMAND_SET_PWM1 = 5 # Set the PWM duty cycle for drive #1 (16 bit)
+COMMAND_GET_PWM1 = 6 # Get the PWM duty cycle for drive #1 (16 bit)
+COMMAND_SET_PWM2 = 7 # Set the PWM duty cycle for drive #2 (16 bit)
+COMMAND_GET_PWM2 = 8 # Get the PWM duty cycle for drive #2 (16 bit)
+COMMAND_SET_PWM3 = 9 # Set the PWM duty cycle for drive #3 (16 bit)
+COMMAND_GET_PWM3 = 10 # Get the PWM duty cycle for drive #3 (16 bit)
+COMMAND_SET_PWM4 = 11 # Set the PWM duty cycle for drive #4 (16 bit)
+COMMAND_GET_PWM4 = 12 # Get the PWM duty cycle for drive #4 (16 bit)
+COMMAND_CALIBRATE_PWM1 = 13 # Set the PWM duty cycle for drive #1 (16 bit, ignores limit checks)
+COMMAND_CALIBRATE_PWM2 = 14 # Set the PWM duty cycle for drive #2 (16 bit, ignores limit checks)
+COMMAND_CALIBRATE_PWM3 = 15 # Set the PWM duty cycle for drive #3 (16 bit, ignores limit checks)
+COMMAND_CALIBRATE_PWM4 = 16 # Set the PWM duty cycle for drive #4 (16 bit, ignores limit checks)
+COMMAND_GET_PWM_MIN_1 = 17 # Get the minimum allowed PWM duty cycle for drive #1
+COMMAND_GET_PWM_MAX_1 = 18 # Get the maximum allowed PWM duty cycle for drive #1
+COMMAND_GET_PWM_BOOT_1 = 19 # Get the startup PWM duty cycle for drive #1
+COMMAND_GET_PWM_MIN_2 = 20 # Get the minimum allowed PWM duty cycle for drive #2
+COMMAND_GET_PWM_MAX_2 = 21 # Get the maximum allowed PWM duty cycle for drive #2
+COMMAND_GET_PWM_BOOT_2 = 22 # Get the startup PWM duty cycle for drive #2
+COMMAND_GET_PWM_MIN_3 = 23 # Get the minimum allowed PWM duty cycle for drive #3
+COMMAND_GET_PWM_MAX_3 = 24 # Get the maximum allowed PWM duty cycle for drive #3
+COMMAND_GET_PWM_BOOT_3 = 25 # Get the startup PWM duty cycle for drive #3
+COMMAND_GET_PWM_MIN_4 = 26 # Get the minimum allowed PWM duty cycle for drive #4
+COMMAND_GET_PWM_MAX_4 = 27 # Get the maximum allowed PWM duty cycle for drive #4
+COMMAND_GET_PWM_BOOT_4 = 28 # Get the startup PWM duty cycle for drive #4
+COMMAND_SET_PWM_MIN_1 = 29 # Set the minimum allowed PWM duty cycle for drive #1
+COMMAND_SET_PWM_MAX_1 = 30 # Set the maximum allowed PWM duty cycle for drive #1
+COMMAND_SET_PWM_BOOT_1 = 31 # Set the startup PWM duty cycle for drive #1
+COMMAND_SET_PWM_MIN_2 = 32 # Set the minimum allowed PWM duty cycle for drive #2
+COMMAND_SET_PWM_MAX_2 = 33 # Set the maximum allowed PWM duty cycle for drive #2
+COMMAND_SET_PWM_BOOT_2 = 34 # Set the startup PWM duty cycle for drive #2
+COMMAND_SET_PWM_MIN_3 = 35 # Set the minimum allowed PWM duty cycle for drive #3
+COMMAND_SET_PWM_MAX_3 = 36 # Set the maximum allowed PWM duty cycle for drive #3
+COMMAND_SET_PWM_BOOT_3 = 37 # Set the startup PWM duty cycle for drive #3
+COMMAND_SET_PWM_MIN_4 = 38 # Set the minimum allowed PWM duty cycle for drive #4
+COMMAND_SET_PWM_MAX_4 = 39 # Set the maximum allowed PWM duty cycle for drive #4
+COMMAND_SET_PWM_BOOT_4 = 40 # Set the startup PWM duty cycle for drive #4
+COMMAND_GET_FILTER_USM1 = 41 # Get the filtered time measured by ultrasonic #1 in us (0 for no detection)
+COMMAND_GET_FILTER_USM2 = 42 # Get the filtered time measured by ultrasonic #2 in us (0 for no detection)
+COMMAND_GET_FILTER_USM3 = 43 # Get the filtered time measured by ultrasonic #3 in us (0 for no detection)
+COMMAND_GET_FILTER_USM4 = 44 # Get the filtered time measured by ultrasonic #4 in us (0 for no detection)
+COMMAND_GET_ID = 0x99 # Get the board identifier
+COMMAND_SET_I2C_ADD = 0xAA # Set a new I2C address
+
+COMMAND_VALUE_FWD = 1 # I2C value representing forward
+COMMAND_VALUE_REV = 2 # I2C value representing reverse
+
+COMMAND_VALUE_ON = 1 # I2C value representing on
+COMMAND_VALUE_OFF = 0 # I2C value representing off
+
+
+def ScanForUltraBorg(busNumber = 1):
+ """
+ScanForUltraBorg([busNumber])
+
+Scans the I²C bus for a UltraBorg boards and returns a list of all usable addresses
+The busNumber if supplied is which I²C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+ """
+ found = []
+ print 'Scanning I²C bus #%d' % (busNumber)
+ bus = UltraBorg()
+ for address in range(0x03, 0x78, 1):
+ try:
+ bus.InitBusOnly(busNumber, address)
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ print 'Found UltraBorg at %02X' % (address)
+ found.append(address)
+ else:
+ pass
+ else:
+ pass
+ except KeyboardInterrupt:
+ raise
+ except:
+ pass
+ if len(found) == 0:
+ print 'No UltraBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)
+ elif len(found) == 1:
+ print '1 UltraBorg board found'
+ else:
+ print '%d UltraBorg boards found' % (len(found))
+ return found
+
+
+def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1):
+ """
+SetNewAddress(newAddress, [oldAddress], [busNumber])
+
+Scans the I²C bus for the first UltraBorg and sets it to a new I2C address
+If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus
+The busNumber if supplied is which I²C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+Warning, this new I²C address will still be used after resetting the power on the device
+ """
+ if newAddress < 0x03:
+ print 'Error, I²C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)'
+ return
+ elif newAddress > 0x77:
+ print 'Error, I²C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)'
+ return
+ if oldAddress < 0x0:
+ found = ScanForUltraBorg(busNumber)
+ if len(found) < 1:
+ print 'No UltraBorg boards found, cannot set a new I²C address!'
+ return
+ else:
+ oldAddress = found[0]
+ print 'Changing I²C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)
+ bus = UltraBorg()
+ bus.InitBusOnly(busNumber, oldAddress)
+ try:
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ foundChip = True
+ print 'Found UltraBorg at %02X' % (oldAddress)
+ else:
+ foundChip = False
+ print 'Found a device at %02X, but it is not a UltraBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_SERVO_USM)
+ else:
+ foundChip = False
+ print 'Missing UltraBorg at %02X' % (oldAddress)
+ except KeyboardInterrupt:
+ raise
+ except:
+ foundChip = False
+ print 'Missing UltraBorg at %02X' % (oldAddress)
+ if foundChip:
+ bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
+ time.sleep(0.1)
+ print 'Address changed to %02X, attempting to talk with the new address' % (newAddress)
+ try:
+ bus.InitBusOnly(busNumber, newAddress)
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ foundChip = True
+ print 'Found UltraBorg at %02X' % (newAddress)
+ else:
+ foundChip = False
+ print 'Found a device at %02X, but it is not a UltraBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_SERVO_USM)
+ else:
+ foundChip = False
+ print 'Missing UltraBorg at %02X' % (newAddress)
+ except KeyboardInterrupt:
+ raise
+ except:
+ foundChip = False
+ print 'Missing UltraBorg at %02X' % (newAddress)
+ if foundChip:
+ print 'New I²C address of %02X set successfully' % (newAddress)
+ else:
+ print 'Failed to set new I²C address...'
+
+
+# Class used to control UltraBorg
+class UltraBorg:
+ """
+This module is designed to communicate with the UltraBorg
+
+busNumber I²C bus on which the UltraBorg is attached (Rev 1 is bus 0, Rev 2 is bus 1)
+bus the smbus object used to talk to the I²C bus
+i2cAddress The I²C address of the UltraBorg chip to control
+foundChip True if the UltraBorg chip can be seen, False otherwise
+printFunction Function reference to call when printing text, if None "print" is used
+ """
+
+ # Shared values used by this class
+ busNumber = 1 # Check here for Rev 1 vs Rev 2 and select the correct bus
+ i2cAddress = I2C_ID_SERVO_USM # I²C address, override for a different address
+ foundChip = False
+ printFunction = None
+ i2cWrite = None
+ i2cRead = None
+
+ # Default calibration adjustments to standard values
+ PWM_MIN_1 = PWM_MIN
+ PWM_MAX_1 = PWM_MAX
+ PWM_MIN_2 = PWM_MIN
+ PWM_MAX_2 = PWM_MAX
+ PWM_MIN_3 = PWM_MIN
+ PWM_MAX_3 = PWM_MAX
+ PWM_MIN_4 = PWM_MIN
+ PWM_MAX_4 = PWM_MAX
+
+ def RawWrite(self, command, data):
+ """
+RawWrite(command, data)
+
+Sends a raw command on the I2C bus to the UltraBorg
+Command codes can be found at the top of UltraBorg.py, data is a list of 0 or more byte values
+
+Under most circumstances you should use the appropriate function instead of RawWrite
+ """
+ rawOutput = chr(command)
+ for singleByte in data:
+ rawOutput += chr(singleByte)
+ self.i2cWrite.write(rawOutput)
+
+
+ def RawRead(self, command, length, retryCount = 3):
+ """
+RawRead(command, length, [retryCount])
+
+Reads data back from the UltraBorg after sending a GET command
+Command codes can be found at the top of UltraBorg.py, length is the number of bytes to read back
+
+The function checks that the first byte read back matches the requested command
+If it does not it will retry the request until retryCount is exhausted (default is 3 times)
+
+Under most circumstances you should use the appropriate function instead of RawRead
+ """
+ while retryCount > 0:
+ self.RawWrite(command, [])
+ time.sleep(0.000001)
+ rawReply = self.i2cRead.read(length)
+ reply = []
+ for singleByte in rawReply:
+ reply.append(ord(singleByte))
+ if command == reply[0]:
+ break
+ else:
+ retryCount -= 1
+ if retryCount > 0:
+ return reply
+ else:
+ raise IOError('I2C read for command %d failed' % (command))
+
+
+ def InitBusOnly(self, busNumber, address):
+ """
+InitBusOnly(busNumber, address)
+
+Prepare the I2C driver for talking to a UltraBorg on the specified bus and I2C address
+This call does not check the board is present or working, under most circumstances use Init() instead
+ """
+ self.busNumber = busNumber
+ self.i2cAddress = address
+ self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+ fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+ self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+ fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+
+ def Print(self, message):
+ """
+Print(message)
+
+Wrapper used by the UltraBorg instance to print messages, will call printFunction if set, print otherwise
+ """
+ if self.printFunction == None:
+ print message
+ else:
+ self.printFunction(message)
+
+
+ def NoPrint(self, message):
+ """
+NoPrint(message)
+
+Does nothing, intended for disabling diagnostic printout by using:
+UB = UltraBorg.UltraBorg()
+UB.printFunction = UB.NoPrint
+ """
+ pass
+
+
+ def Init(self, tryOtherBus = False):
+ """
+Init([tryOtherBus])
+
+Prepare the I2C driver for talking to the UltraBorg
+
+If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on the current busNumber
+ This is only really useful for early Raspberry Pi models!
+ """
+ self.Print('Loading UltraBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress))
+
+ # Open the bus
+ self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+ fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+ self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+ fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+ # Check for UltraBorg
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ self.foundChip = True
+ self.Print('Found UltraBorg at %02X' % (self.i2cAddress))
+ else:
+ self.foundChip = False
+ self.Print('Found a device at %02X, but it is not a UltraBorg (ID %02X instead of %02X)' % (self.i2cAddress, i2cRecv[1], I2C_ID_SERVO_USM))
+ else:
+ self.foundChip = False
+ self.Print('Missing UltraBorg at %02X' % (self.i2cAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.foundChip = False
+ self.Print('Missing UltraBorg at %02X' % (self.i2cAddress))
+
+ # See if we are missing chips
+ if not self.foundChip:
+ self.Print('UltraBorg was not found')
+ if tryOtherBus:
+ if self.busNumber == 1:
+ self.busNumber = 0
+ else:
+ self.busNumber = 1
+ self.Print('Trying bus %d instead' % (self.busNumber))
+ self.Init(False)
+ else:
+ self.Print('Are you sure your UltraBorg is properly attached, the correct address is used, and the I2C drivers are running?')
+ self.bus = None
+ else:
+ self.Print('UltraBorg loaded on bus %d' % (self.busNumber))
+
+ # Read the calibration settings from the UltraBorg
+ self.PWM_MIN_1 = self.GetWithRetry(self.GetServoMinimum1, 5)
+ self.PWM_MAX_1 = self.GetWithRetry(self.GetServoMaximum1, 5)
+ self.PWM_MIN_2 = self.GetWithRetry(self.GetServoMinimum2, 5)
+ self.PWM_MAX_2 = self.GetWithRetry(self.GetServoMaximum2, 5)
+ self.PWM_MIN_3 = self.GetWithRetry(self.GetServoMinimum3, 5)
+ self.PWM_MAX_3 = self.GetWithRetry(self.GetServoMaximum3, 5)
+ self.PWM_MIN_4 = self.GetWithRetry(self.GetServoMinimum4, 5)
+ self.PWM_MAX_4 = self.GetWithRetry(self.GetServoMaximum4, 5)
+
+
+ def GetWithRetry(self, function, count):
+ """
+value = GetWithRetry(function, count)
+
+Attempts to read a value multiple times before giving up
+Pass a get function with no parameters
+e.g.
+distance = GetWithRetry(UB.GetDistance1, 5)
+Will try UB.GetDistance1() upto 5 times, returning when it gets a value
+Useful for ensuring a read is successful
+ """
+ value = None
+ for i in range(count):
+ okay = True
+ try:
+ value = function()
+ except KeyboardInterrupt:
+ raise
+ except:
+ okay = False
+ if okay:
+ break
+ return value
+
+
+ def SetWithRetry(self, setFunction, getFunction, value, count):
+ """
+worked = SetWithRetry(setFunction, getFunction, value, count)
+
+Attempts to write a value multiple times before giving up
+Pass a set function with one parameter, and a get function no parameters
+The get function will be used to check if the set worked, if not it will be repeated
+e.g.
+worked = SetWithRetry(UB.SetServoMinimum1, UB.GetServoMinimum1, 2000, 5)
+Will try UB.SetServoMinimum1(2000) upto 5 times, returning when UB.GetServoMinimum1 returns 2000.
+Useful for ensuring a write is successful
+ """
+ for i in range(count):
+ okay = True
+ try:
+ setFunction(value)
+ readValue = getFunction()
+ except KeyboardInterrupt:
+ raise
+ except:
+ okay = False
+ if okay:
+ if readValue == value:
+ break
+ else:
+ okay = False
+ return okay
+
+
+ def GetDistance1(self):
+ """
+distance = GetDistance1()
+
+Gets the filtered distance for ultrasonic module #1 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance1 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #1 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetDistance2(self):
+ """
+distance = GetDistance2()
+
+Gets the filtered distance for ultrasonic module #2 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance2 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #2 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetDistance3(self):
+ """
+distance = GetDistance3()
+
+Gets the filtered distance for ultrasonic module #3 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance3 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #3 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetDistance4(self):
+ """
+distance = GetDistance4()
+
+Gets the filtered distance for ultrasonic module #4 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance4 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #4 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+
+ def GetRawDistance1(self):
+ """
+distance = GetRawDistance1()
+
+Gets the raw distance for ultrasonic module #1 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance1
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #1 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetRawDistance2(self):
+ """
+distance = GetRawDistance2()
+
+Gets the raw distance for ultrasonic module #2 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance2
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #2 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetRawDistance3(self):
+ """
+distance = GetRawDistance3()
+
+Gets the raw distance for ultrasonic module #3 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance3
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #3 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetRawDistance4(self):
+ """
+distance = GetRawDistance4()
+
+Gets the distance for ultrasonic module #4 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance4
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #4 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetServoPosition1(self):
+ """
+position = GetServoPosition1()
+
+Gets the drive position for servo output #1
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #1!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_1) / (self.PWM_MAX_1 - self.PWM_MIN_1)
+ return (2.0 * powerOut) - 1.0
+
+
+ def GetServoPosition2(self):
+ """
+position = GetServoPosition2()
+
+Gets the drive position for servo output #2
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #2!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_2) / (self.PWM_MAX_2 - self.PWM_MIN_2)
+ return (2.0 * powerOut) - 1.0
+
+
+ def GetServoPosition3(self):
+ """
+position = GetServoPosition3()
+
+Gets the drive position for servo output #3
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #3!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_3) / (self.PWM_MAX_3 - self.PWM_MIN_3)
+ return (2.0 * powerOut) - 1.0
+
+
+ def GetServoPosition4(self):
+ """
+position = GetServoPosition4()
+
+Gets the drive position for servo output #4
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #4!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_4) / (self.PWM_MAX_4 - self.PWM_MIN_4)
+ return (2.0 * powerOut) - 1.0
+
+
+ def SetServoPosition1(self, position):
+ """
+SetServoPosition1(position)
+
+Sets the drive position for servo output #1
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_1 - self.PWM_MIN_1)) + self.PWM_MIN_1)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #1!')
+
+
+ def SetServoPosition2(self, position):
+ """
+SetServoPosition2(position)
+
+Sets the drive position for servo output #2
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_2 - self.PWM_MIN_2)) + self.PWM_MIN_2)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #2!')
+
+
+ def SetServoPosition3(self, position):
+ """
+SetServoPosition3(position)
+
+Sets the drive position for servo output #3
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_3 - self.PWM_MIN_3)) + self.PWM_MIN_3)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #3!')
+
+
+ def SetServoPosition4(self, position):
+ """
+SetServoPosition4(position)
+
+Sets the drive position for servo output #4
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_4 - self.PWM_MIN_4)) + self.PWM_MIN_4)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #1!')
+
+
+ def GetServoMinimum1(self):
+ """
+pwmLevel = GetServoMinimum1()
+
+Gets the minimum PWM level for servo output #1
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #1 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMinimum2(self):
+ """
+pwmLevel = GetServoMinimum2()
+
+Gets the minimum PWM level for servo output #2
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #2 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMinimum3(self):
+ """
+pwmLevel = GetServoMinimum3()
+
+Gets the minimum PWM level for servo output #3
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #3 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMinimum4(self):
+ """
+pwmLevel = GetServoMinimum4()
+
+Gets the minimum PWM level for servo output #4
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #4 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum1(self):
+ """
+pwmLevel = GetServoMaximum1()
+
+Gets the maximum PWM level for servo output #1
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #1 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum2(self):
+ """
+pwmLevel = GetServoMaximum2()
+
+Gets the maximum PWM level for servo output #2
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #2 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum3(self):
+ """
+pwmLevel = GetServoMaximum3()
+
+Gets the maximum PWM level for servo output #3
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #3 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum4(self):
+ """
+pwmLevel = GetServoMaximum4()
+
+Gets the maximum PWM level for servo output #4
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #4 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup1(self):
+ """
+pwmLevel = GetServoStartup1()
+
+Gets the startup PWM level for servo output #1
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #1 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup2(self):
+ """
+pwmLevel = GetServoStartup2()
+
+Gets the startup PWM level for servo output #2
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #2 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup3(self):
+ """
+pwmLevel = GetServoStartup3()
+
+Gets the startup PWM level for servo output #3
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #3 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup4(self):
+ """
+pwmLevel = GetServoStartup4()
+
+Gets the startup PWM level for servo output #4
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre,
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #4 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def CalibrateServoPosition1(self, pwmLevel):
+ """
+CalibrateServoPosition1(pwmLevel)
+
+Sets the raw PWM level for servo output #1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #1!')
+
+
+ def CalibrateServoPosition2(self, pwmLevel):
+ """
+CalibrateServoPosition2(pwmLevel)
+
+Sets the raw PWM level for servo output #2
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #2!')
+
+
+ def CalibrateServoPosition3(self, pwmLevel):
+ """
+CalibrateServoPosition3(pwmLevel)
+
+Sets the raw PWM level for servo output #3
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #3!')
+
+
+ def CalibrateServoPosition4(self, pwmLevel):
+ """
+CalibrateServoPosition4(pwmLevel)
+
+Sets the raw PWM level for servo output #4
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #4!')
+
+
+ def GetRawServoPosition1(self):
+ """
+pwmLevel = GetRawServoPosition1()
+
+Gets the raw PWM level for servo output #1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition1
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #1!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def GetRawServoPosition2(self):
+ """
+pwmLevel = GetRawServoPosition2()
+
+Gets the raw PWM level for servo output #2
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition2
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #2!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def GetRawServoPosition3(self):
+ """
+pwmLevel = GetRawServoPosition3()
+
+Gets the raw PWM level for servo output #3
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition3
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #3!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def GetRawServoPosition4(self):
+ """
+pwmLevel = GetRawServoPosition4()
+
+Gets the raw PWM level for servo output #4
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition4
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #4!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def SetServoMinimum1(self, pwmLevel):
+ """
+SetServoMinimum1(pwmLevel)
+
+Sets the minimum PWM level for servo output #1
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #1!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_1 = self.GetServoMinimum1()
+
+
+ def SetServoMinimum2(self, pwmLevel):
+ """
+SetServoMinimum2(pwmLevel)
+
+Sets the minimum PWM level for servo output #2
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #2!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_2 = self.GetServoMinimum2()
+
+
+ def SetServoMinimum3(self, pwmLevel):
+ """
+SetServoMinimum3(pwmLevel)
+
+Sets the minimum PWM level for servo output #3
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #3!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_3 = self.GetServoMinimum3()
+
+
+ def SetServoMinimum4(self, pwmLevel):
+ """
+SetServoMinimum4(pwmLevel)
+
+Sets the minimum PWM level for servo output #4
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #4!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_4 = self.GetServoMinimum4()
+
+
+ def SetServoMaximum1(self, pwmLevel):
+ """
+SetServoMaximum1(pwmLevel)
+
+Sets the maximum PWM level for servo output #1
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #1!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_1 = self.GetServoMaximum1()
+
+
+ def SetServoMaximum2(self, pwmLevel):
+ """
+SetServoMaximum2(pwmLevel)
+
+Sets the maximum PWM level for servo output #2
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #2!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_2 = self.GetServoMaximum2()
+
+
+ def SetServoMaximum3(self, pwmLevel):
+ """
+SetServoMaximum3(pwmLevel)
+
+Sets the maximum PWM level for servo output #3
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #3!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_3 = self.GetServoMaximum3()
+
+
+ def SetServoMaximum4(self, pwmLevel):
+ """
+SetServoMaximum4(pwmLevel)
+
+Sets the maximum PWM level for servo output #4
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #4!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_4 = self.GetServoMaximum4()
+
+
+ def SetServoStartup1(self, pwmLevel):
+ """
+SetServoStartup1(pwmLevel)
+
+Sets the startup PWM level for servo output #1
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_1 < self.PWM_MAX_1:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_1:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_1:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_1:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_1:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print 'Servo #1 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_1, self.PWM_MAX_1)
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #1!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def SetServoStartup2(self, pwmLevel):
+ """
+SetServoStartup2(pwmLevel)
+
+Sets the startup PWM level for servo output #2
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_2 < self.PWM_MAX_2:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_2:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_2:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_2:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_2:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print 'Servo #2 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_2, self.PWM_MAX_2)
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #2!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def SetServoStartup3(self, pwmLevel):
+ """
+SetServoStartup3(pwmLevel)
+
+Sets the startup PWM level for servo output #3
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_3 < self.PWM_MAX_3:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_3:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_3:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_3:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_3:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print 'Servo #3 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_3, self.PWM_MAX_3)
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #3!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def SetServoStartup4(self, pwmLevel):
+ """
+SetServoStartup4(pwmLevel)
+
+Sets the startup PWM level for servo output #4
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_4 < self.PWM_MAX_4:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_4:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_4:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_4:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_4:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print 'Servo #4 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_4, self.PWM_MAX_4)
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #4!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def Help(self):
+ """
+Help()
+
+Displays the names and descriptions of the various functions and settings provided
+ """
+ funcList = [UltraBorg.__dict__.get(a) for a in dir(UltraBorg) if isinstance(UltraBorg.__dict__.get(a), types.FunctionType)]
+ funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno)
+
+ print self.__doc__
+ print
+ for func in funcListSorted:
+ print '=== %s === %s' % (func.func_name, func.func_doc)
+
diff --git a/Code/Pyborg_Robot_Scripts/UltraBorg3.py b/Code/Pyborg_Robot_Scripts/UltraBorg3.py
new file mode 100644
index 0000000000000000000000000000000000000000..b77b5c9740025fd39a7751755658461650f2f6a2
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/UltraBorg3.py
@@ -0,0 +1,1840 @@
+#!/usr/bin/env python
+# coding: latin-1
+"""
+This module is designed to communicate with the UltraBorg
+
+Use by creating an instance of the class, call the Init function, then command as desired, e.g.
+import UltraBorg
+UB = UltraBorg.UltraBorg()
+UB.Init()
+# User code here, use UB to control the board
+
+Multiple boards can be used when configured with different I²C addresses by creating multiple instances, e.g.
+import UltraBorg
+UB1 = UltraBorg.UltraBorg()
+UB2 = UltraBorg.UltraBorg()
+UB1.i2cAddress = 0x44
+UB2.i2cAddress = 0x45
+UB1.Init()
+UB2.Init()
+# User code here, use UB1 and UB2 to control each board separately
+
+For explanations of the functions available call the Help function, e.g.
+import UltraBorg
+UB = UltraBorg.UltraBorg()
+UB.Help()
+See the website at www.piborg.org/ultraborg for more details
+"""
+
+# Import the libraries we need
+import io
+import fcntl
+import types
+import time
+
+# Constant values
+I2C_SLAVE = 0x0703
+I2C_MAX_LEN = 4
+USM_US_TO_MM = 0.171500
+PWM_MIN = 2000 # Should be a 1 ms burst, typical servo minimum
+PWM_MAX = 4000 # Should be a 2 ms burst, typical servo maximum
+DELAY_AFTER_EEPROM = 0.01 # Time to wait after updating an EEPROM value before reading
+PWM_UNSET = 0xFFFF
+
+I2C_ID_SERVO_USM = 0x36
+
+COMMAND_GET_TIME_USM1 = 1 # Get the time measured by ultrasonic #1 in us (0 for no detection)
+COMMAND_GET_TIME_USM2 = 2 # Get the time measured by ultrasonic #2 in us (0 for no detection)
+COMMAND_GET_TIME_USM3 = 3 # Get the time measured by ultrasonic #3 in us (0 for no detection)
+COMMAND_GET_TIME_USM4 = 4 # Get the time measured by ultrasonic #4 in us (0 for no detection)
+COMMAND_SET_PWM1 = 5 # Set the PWM duty cycle for drive #1 (16 bit)
+COMMAND_GET_PWM1 = 6 # Get the PWM duty cycle for drive #1 (16 bit)
+COMMAND_SET_PWM2 = 7 # Set the PWM duty cycle for drive #2 (16 bit)
+COMMAND_GET_PWM2 = 8 # Get the PWM duty cycle for drive #2 (16 bit)
+COMMAND_SET_PWM3 = 9 # Set the PWM duty cycle for drive #3 (16 bit)
+COMMAND_GET_PWM3 = 10 # Get the PWM duty cycle for drive #3 (16 bit)
+COMMAND_SET_PWM4 = 11 # Set the PWM duty cycle for drive #4 (16 bit)
+COMMAND_GET_PWM4 = 12 # Get the PWM duty cycle for drive #4 (16 bit)
+COMMAND_CALIBRATE_PWM1 = 13 # Set the PWM duty cycle for drive #1 (16 bit, ignores limit checks)
+COMMAND_CALIBRATE_PWM2 = 14 # Set the PWM duty cycle for drive #2 (16 bit, ignores limit checks)
+COMMAND_CALIBRATE_PWM3 = 15 # Set the PWM duty cycle for drive #3 (16 bit, ignores limit checks)
+COMMAND_CALIBRATE_PWM4 = 16 # Set the PWM duty cycle for drive #4 (16 bit, ignores limit checks)
+COMMAND_GET_PWM_MIN_1 = 17 # Get the minimum allowed PWM duty cycle for drive #1
+COMMAND_GET_PWM_MAX_1 = 18 # Get the maximum allowed PWM duty cycle for drive #1
+COMMAND_GET_PWM_BOOT_1 = 19 # Get the startup PWM duty cycle for drive #1
+COMMAND_GET_PWM_MIN_2 = 20 # Get the minimum allowed PWM duty cycle for drive #2
+COMMAND_GET_PWM_MAX_2 = 21 # Get the maximum allowed PWM duty cycle for drive #2
+COMMAND_GET_PWM_BOOT_2 = 22 # Get the startup PWM duty cycle for drive #2
+COMMAND_GET_PWM_MIN_3 = 23 # Get the minimum allowed PWM duty cycle for drive #3
+COMMAND_GET_PWM_MAX_3 = 24 # Get the maximum allowed PWM duty cycle for drive #3
+COMMAND_GET_PWM_BOOT_3 = 25 # Get the startup PWM duty cycle for drive #3
+COMMAND_GET_PWM_MIN_4 = 26 # Get the minimum allowed PWM duty cycle for drive #4
+COMMAND_GET_PWM_MAX_4 = 27 # Get the maximum allowed PWM duty cycle for drive #4
+COMMAND_GET_PWM_BOOT_4 = 28 # Get the startup PWM duty cycle for drive #4
+COMMAND_SET_PWM_MIN_1 = 29 # Set the minimum allowed PWM duty cycle for drive #1
+COMMAND_SET_PWM_MAX_1 = 30 # Set the maximum allowed PWM duty cycle for drive #1
+COMMAND_SET_PWM_BOOT_1 = 31 # Set the startup PWM duty cycle for drive #1
+COMMAND_SET_PWM_MIN_2 = 32 # Set the minimum allowed PWM duty cycle for drive #2
+COMMAND_SET_PWM_MAX_2 = 33 # Set the maximum allowed PWM duty cycle for drive #2
+COMMAND_SET_PWM_BOOT_2 = 34 # Set the startup PWM duty cycle for drive #2
+COMMAND_SET_PWM_MIN_3 = 35 # Set the minimum allowed PWM duty cycle for drive #3
+COMMAND_SET_PWM_MAX_3 = 36 # Set the maximum allowed PWM duty cycle for drive #3
+COMMAND_SET_PWM_BOOT_3 = 37 # Set the startup PWM duty cycle for drive #3
+COMMAND_SET_PWM_MIN_4 = 38 # Set the minimum allowed PWM duty cycle for drive #4
+COMMAND_SET_PWM_MAX_4 = 39 # Set the maximum allowed PWM duty cycle for drive #4
+COMMAND_SET_PWM_BOOT_4 = 40 # Set the startup PWM duty cycle for drive #4
+COMMAND_GET_FILTER_USM1 = 41 # Get the filtered time measured by ultrasonic #1 in us (0 for no detection)
+COMMAND_GET_FILTER_USM2 = 42 # Get the filtered time measured by ultrasonic #2 in us (0 for no detection)
+COMMAND_GET_FILTER_USM3 = 43 # Get the filtered time measured by ultrasonic #3 in us (0 for no detection)
+COMMAND_GET_FILTER_USM4 = 44 # Get the filtered time measured by ultrasonic #4 in us (0 for no detection)
+COMMAND_GET_ID = 0x99 # Get the board identifier
+COMMAND_SET_I2C_ADD = 0xAA # Set a new I2C address
+
+COMMAND_VALUE_FWD = 1 # I2C value representing forward
+COMMAND_VALUE_REV = 2 # I2C value representing reverse
+
+COMMAND_VALUE_ON = 1 # I2C value representing on
+COMMAND_VALUE_OFF = 0 # I2C value representing off
+
+
+def ScanForUltraBorg(busNumber = 1):
+ """
+ScanForUltraBorg([busNumber])
+
+Scans the I²C bus for a UltraBorg boards and returns a list of all usable addresses
+The busNumber if supplied is which I²C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+ """
+ found = []
+ print('Scanning I²C bus #%d' % (busNumber))
+ bus = UltraBorg()
+ for address in range(0x03, 0x78, 1):
+ try:
+ bus.InitBusOnly(busNumber, address)
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ print('Found UltraBorg at %02X' % (address))
+ found.append(address)
+ else:
+ pass
+ else:
+ pass
+ except KeyboardInterrupt:
+ raise
+ except:
+ pass
+ if len(found) == 0:
+ print('No UltraBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber))
+ elif len(found) == 1:
+ print('1 UltraBorg board found')
+ else:
+ print('%d UltraBorg boards found' % (len(found)))
+ return found
+
+
+def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1):
+ """
+SetNewAddress(newAddress, [oldAddress], [busNumber])
+
+Scans the I²C bus for the first UltraBorg and sets it to a new I2C address
+If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus
+The busNumber if supplied is which I²C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+Warning, this new I²C address will still be used after resetting the power on the device
+ """
+ if newAddress < 0x03:
+ print('Error, I²C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)')
+ return
+ elif newAddress > 0x77:
+ print('Error, I²C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)')
+ return
+ if oldAddress < 0x0:
+ found = ScanForUltraBorg(busNumber)
+ if len(found) < 1:
+ print('No UltraBorg boards found, cannot set a new I²C address!')
+ return
+ else:
+ oldAddress = found[0]
+ print('Changing I²C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber))
+ bus = UltraBorg()
+ bus.InitBusOnly(busNumber, oldAddress)
+ try:
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ foundChip = True
+ print('Found UltraBorg at %02X' % (oldAddress))
+ else:
+ foundChip = False
+ print('Found a device at %02X, but it is not a UltraBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_SERVO_USM))
+ else:
+ foundChip = False
+ print('Missing UltraBorg at %02X' % (oldAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ foundChip = False
+ print('Missing UltraBorg at %02X' % (oldAddress))
+ if foundChip:
+ bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
+ time.sleep(0.1)
+ print('Address changed to %02X, attempting to talk with the new address' % (newAddress))
+ try:
+ bus.InitBusOnly(busNumber, newAddress)
+ i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ foundChip = True
+ print('Found UltraBorg at %02X' % (newAddress))
+ else:
+ foundChip = False
+ print('Found a device at %02X, but it is not a UltraBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_SERVO_USM))
+ else:
+ foundChip = False
+ print('Missing UltraBorg at %02X' % (newAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ foundChip = False
+ print('Missing UltraBorg at %02X' % (newAddress))
+ if foundChip:
+ print('New I²C address of %02X set successfully' % (newAddress))
+ else:
+ print('Failed to set new I²C address...')
+
+
+# Class used to control UltraBorg
+class UltraBorg:
+ """
+This module is designed to communicate with the UltraBorg
+
+busNumber I²C bus on which the UltraBorg is attached (Rev 1 is bus 0, Rev 2 is bus 1)
+bus the smbus object used to talk to the I²C bus
+i2cAddress The I²C address of the UltraBorg chip to control
+foundChip True if the UltraBorg chip can be seen, False otherwise
+printFunction Function reference to call when printing text, if None "print" is used
+ """
+
+ # Shared values used by this class
+ busNumber = 1 # Check here for Rev 1 vs Rev 2 and select the correct bus
+ i2cAddress = I2C_ID_SERVO_USM # I²C address, override for a different address
+ foundChip = False
+ printFunction = None
+ i2cWrite = None
+ i2cRead = None
+
+ # Default calibration adjustments to standard values
+ PWM_MIN_1 = PWM_MIN
+ PWM_MAX_1 = PWM_MAX
+ PWM_MIN_2 = PWM_MIN
+ PWM_MAX_2 = PWM_MAX
+ PWM_MIN_3 = PWM_MIN
+ PWM_MAX_3 = PWM_MAX
+ PWM_MIN_4 = PWM_MIN
+ PWM_MAX_4 = PWM_MAX
+
+ def RawWrite(self, command, data):
+ """
+RawWrite(command, data)
+
+Sends a raw command on the I2C bus to the UltraBorg
+Command codes can be found at the top of UltraBorg.py, data is a list of 0 or more byte values
+
+Under most circumstances you should use the appropriate function instead of RawWrite
+ """
+ rawOutput = [command]
+ rawOutput.extend(data)
+ rawOutput = bytes(rawOutput)
+ self.i2cWrite.write(rawOutput)
+
+
+ def RawRead(self, command, length, retryCount = 3):
+ """
+RawRead(command, length, [retryCount])
+
+Reads data back from the UltraBorg after sending a GET command
+Command codes can be found at the top of UltraBorg.py, length is the number of bytes to read back
+
+The function checks that the first byte read back matches the requested command
+If it does not it will retry the request until retryCount is exhausted (default is 3 times)
+
+Under most circumstances you should use the appropriate function instead of RawRead
+ """
+ while retryCount > 0:
+ self.RawWrite(command, [])
+ time.sleep(0.000001)
+ rawReply = self.i2cRead.read(length)
+ reply = []
+ for singleByte in rawReply:
+ reply.append(singleByte)
+ if command == reply[0]:
+ break
+ else:
+ retryCount -= 1
+ if retryCount > 0:
+ return reply
+ else:
+ raise IOError('I2C read for command %d failed' % (command))
+
+
+ def InitBusOnly(self, busNumber, address):
+ """
+InitBusOnly(busNumber, address)
+
+Prepare the I2C driver for talking to a UltraBorg on the specified bus and I2C address
+This call does not check the board is present or working, under most circumstances use Init() instead
+ """
+ self.busNumber = busNumber
+ self.i2cAddress = address
+ self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+ fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+ self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+ fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+
+ def Print(self, message):
+ """
+Print(message)
+
+Wrapper used by the UltraBorg instance to print messages, will call printFunction if set, print otherwise
+ """
+ if self.printFunction == None:
+ print(message)
+ else:
+ self.printFunction(message)
+
+
+ def NoPrint(self, message):
+ """
+NoPrint(message)
+
+Does nothing, intended for disabling diagnostic printout by using:
+UB = UltraBorg.UltraBorg()
+UB.printFunction = UB.NoPrint
+ """
+ pass
+
+
+ def Init(self, tryOtherBus = False):
+ """
+Init([tryOtherBus])
+
+Prepare the I2C driver for talking to the UltraBorg
+
+If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on the current busNumber
+ This is only really useful for early Raspberry Pi models!
+ """
+ self.Print('Loading UltraBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress))
+
+ # Open the bus
+ self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+ fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+ self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+ fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+ # Check for UltraBorg
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
+ if len(i2cRecv) == I2C_MAX_LEN:
+ if i2cRecv[1] == I2C_ID_SERVO_USM:
+ self.foundChip = True
+ self.Print('Found UltraBorg at %02X' % (self.i2cAddress))
+ else:
+ self.foundChip = False
+ self.Print('Found a device at %02X, but it is not a UltraBorg (ID %02X instead of %02X)' % (self.i2cAddress, i2cRecv[1], I2C_ID_SERVO_USM))
+ else:
+ self.foundChip = False
+ self.Print('Missing UltraBorg at %02X' % (self.i2cAddress))
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.foundChip = False
+ self.Print('Missing UltraBorg at %02X' % (self.i2cAddress))
+
+ # See if we are missing chips
+ if not self.foundChip:
+ self.Print('UltraBorg was not found')
+ if tryOtherBus:
+ if self.busNumber == 1:
+ self.busNumber = 0
+ else:
+ self.busNumber = 1
+ self.Print('Trying bus %d instead' % (self.busNumber))
+ self.Init(False)
+ else:
+ self.Print('Are you sure your UltraBorg is properly attached, the correct address is used, and the I2C drivers are running?')
+ self.bus = None
+ else:
+ self.Print('UltraBorg loaded on bus %d' % (self.busNumber))
+
+ # Read the calibration settings from the UltraBorg
+ self.PWM_MIN_1 = self.GetWithRetry(self.GetServoMinimum1, 5)
+ self.PWM_MAX_1 = self.GetWithRetry(self.GetServoMaximum1, 5)
+ self.PWM_MIN_2 = self.GetWithRetry(self.GetServoMinimum2, 5)
+ self.PWM_MAX_2 = self.GetWithRetry(self.GetServoMaximum2, 5)
+ self.PWM_MIN_3 = self.GetWithRetry(self.GetServoMinimum3, 5)
+ self.PWM_MAX_3 = self.GetWithRetry(self.GetServoMaximum3, 5)
+ self.PWM_MIN_4 = self.GetWithRetry(self.GetServoMinimum4, 5)
+ self.PWM_MAX_4 = self.GetWithRetry(self.GetServoMaximum4, 5)
+
+
+ def GetWithRetry(self, function, count):
+ """
+value = GetWithRetry(function, count)
+
+Attempts to read a value multiple times before giving up
+Pass a get function with no parameters
+e.g.
+distance = GetWithRetry(UB.GetDistance1, 5)
+Will try UB.GetDistance1() upto 5 times, returning when it gets a value
+Useful for ensuring a read is successful
+ """
+ value = None
+ for i in range(count):
+ okay = True
+ try:
+ value = function()
+ except KeyboardInterrupt:
+ raise
+ except:
+ okay = False
+ if okay:
+ break
+ return value
+
+
+ def SetWithRetry(self, setFunction, getFunction, value, count):
+ """
+worked = SetWithRetry(setFunction, getFunction, value, count)
+
+Attempts to write a value multiple times before giving up
+Pass a set function with one parameter, and a get function no parameters
+The get function will be used to check if the set worked, if not it will be repeated
+e.g.
+worked = SetWithRetry(UB.SetServoMinimum1, UB.GetServoMinimum1, 2000, 5)
+Will try UB.SetServoMinimum1(2000) upto 5 times, returning when UB.GetServoMinimum1 returns 2000.
+Useful for ensuring a write is successful
+ """
+ for i in range(count):
+ okay = True
+ try:
+ setFunction(value)
+ readValue = getFunction()
+ except KeyboardInterrupt:
+ raise
+ except:
+ okay = False
+ if okay:
+ if readValue == value:
+ break
+ else:
+ okay = False
+ return okay
+
+
+ def GetDistance1(self):
+ """
+distance = GetDistance1()
+
+Gets the filtered distance for ultrasonic module #1 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance1 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #1 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetDistance2(self):
+ """
+distance = GetDistance2()
+
+Gets the filtered distance for ultrasonic module #2 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance2 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #2 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetDistance3(self):
+ """
+distance = GetDistance3()
+
+Gets the filtered distance for ultrasonic module #3 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance3 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #3 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetDistance4(self):
+ """
+distance = GetDistance4()
+
+Gets the filtered distance for ultrasonic module #4 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+If you need a faster response try GetRawDistance4 instead (no filtering)
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_FILTER_USM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #4 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+
+ def GetRawDistance1(self):
+ """
+distance = GetRawDistance1()
+
+Gets the raw distance for ultrasonic module #1 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance1
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #1 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetRawDistance2(self):
+ """
+distance = GetRawDistance2()
+
+Gets the raw distance for ultrasonic module #2 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance2
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #2 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetRawDistance3(self):
+ """
+distance = GetRawDistance3()
+
+Gets the raw distance for ultrasonic module #3 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance3
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #3 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetRawDistance4(self):
+ """
+distance = GetRawDistance4()
+
+Gets the distance for ultrasonic module #4 in millimeters
+Returns 0 for no object detected or no ultrasonic module attached
+For a filtered (less jumpy) reading use GetDistance4
+e.g.
+0 -> No object in range
+25 -> Object 25 mm away
+1000 -> Object 1000 mm (1 m) away
+3500 -> Object 3500 mm (3.5 m) away
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_TIME_USM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading ultrasonic #4 distance!')
+ return
+
+ time_us = (i2cRecv[1] << 8) + i2cRecv[2]
+ if time_us == 65535:
+ time_us = 0
+ return time_us * USM_US_TO_MM
+
+
+ def GetServoPosition1(self):
+ """
+position = GetServoPosition1()
+
+Gets the drive position for servo output #1
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #1!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_1) / (self.PWM_MAX_1 - self.PWM_MIN_1)
+ return (2.0 * powerOut) - 1.0
+
+
+ def GetServoPosition2(self):
+ """
+position = GetServoPosition2()
+
+Gets the drive position for servo output #2
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #2!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_2) / (self.PWM_MAX_2 - self.PWM_MIN_2)
+ return (2.0 * powerOut) - 1.0
+
+
+ def GetServoPosition3(self):
+ """
+position = GetServoPosition3()
+
+Gets the drive position for servo output #3
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #3!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_3) / (self.PWM_MAX_3 - self.PWM_MIN_3)
+ return (2.0 * powerOut) - 1.0
+
+
+ def GetServoPosition4(self):
+ """
+position = GetServoPosition4()
+
+Gets the drive position for servo output #4
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo output #4!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ powerOut = (float(pwmDuty) - self.PWM_MIN_4) / (self.PWM_MAX_4 - self.PWM_MIN_4)
+ return (2.0 * powerOut) - 1.0
+
+
+ def SetServoPosition1(self, position):
+ """
+SetServoPosition1(position)
+
+Sets the drive position for servo output #1
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_1 - self.PWM_MIN_1)) + self.PWM_MIN_1)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #1!')
+
+
+ def SetServoPosition2(self, position):
+ """
+SetServoPosition2(position)
+
+Sets the drive position for servo output #2
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_2 - self.PWM_MIN_2)) + self.PWM_MIN_2)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #2!')
+
+
+ def SetServoPosition3(self, position):
+ """
+SetServoPosition3(position)
+
+Sets the drive position for servo output #3
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_3 - self.PWM_MIN_3)) + self.PWM_MIN_3)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #3!')
+
+
+ def SetServoPosition4(self, position):
+ """
+SetServoPosition4(position)
+
+Sets the drive position for servo output #4
+0 is central, -1 is maximum left, +1 is maximum right
+e.g.
+0 -> Central
+0.5 -> 50% to the right
+1 -> 100% to the right
+-0.75 -> 75% to the left
+ """
+ powerOut = (position + 1.0) / 2.0
+ pwmDuty = int((powerOut * (self.PWM_MAX_4 - self.PWM_MIN_4)) + self.PWM_MIN_4)
+ pwmDutyLow = pwmDuty & 0xFF
+ pwmDutyHigh = (pwmDuty >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo output #1!')
+
+
+ def GetServoMinimum1(self):
+ """
+pwmLevel = GetServoMinimum1()
+
+Gets the minimum PWM level for servo output #1
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #1 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMinimum2(self):
+ """
+pwmLevel = GetServoMinimum2()
+
+Gets the minimum PWM level for servo output #2
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #2 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMinimum3(self):
+ """
+pwmLevel = GetServoMinimum3()
+
+Gets the minimum PWM level for servo output #3
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #3 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMinimum4(self):
+ """
+pwmLevel = GetServoMinimum4()
+
+Gets the minimum PWM level for servo output #4
+This corresponds to position -1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MIN_4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #4 minimum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum1(self):
+ """
+pwmLevel = GetServoMaximum1()
+
+Gets the maximum PWM level for servo output #1
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #1 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum2(self):
+ """
+pwmLevel = GetServoMaximum2()
+
+Gets the maximum PWM level for servo output #2
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #2 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum3(self):
+ """
+pwmLevel = GetServoMaximum3()
+
+Gets the maximum PWM level for servo output #3
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #3 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoMaximum4(self):
+ """
+pwmLevel = GetServoMaximum4()
+
+Gets the maximum PWM level for servo output #4
+This corresponds to position +1
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_MAX_4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #4 maximum burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup1(self):
+ """
+pwmLevel = GetServoStartup1()
+
+Gets the startup PWM level for servo output #1
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #1 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup2(self):
+ """
+pwmLevel = GetServoStartup2()
+
+Gets the startup PWM level for servo output #2
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #2 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup3(self):
+ """
+pwmLevel = GetServoStartup3()
+
+Gets the startup PWM level for servo output #3
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #3 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def GetServoStartup4(self):
+ """
+pwmLevel = GetServoStartup4()
+
+Gets the startup PWM level for servo output #4
+This can be anywhere in the minimum to maximum range
+The value is an integer where 2000 represents a 1 ms servo burst
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst
+4000 -> 2 ms servo burst, typical longest burst
+3000 -> 1.5 ms servo burst, typical centre,
+5000 -> 2.5 ms servo burst, higher than typical longest burst
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM_BOOT_4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading servo #4 startup burst!')
+ return
+
+ return (i2cRecv[1] << 8) + i2cRecv[2]
+
+
+ def CalibrateServoPosition1(self, pwmLevel):
+ """
+CalibrateServoPosition1(pwmLevel)
+
+Sets the raw PWM level for servo output #1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #1!')
+
+
+ def CalibrateServoPosition2(self, pwmLevel):
+ """
+CalibrateServoPosition2(pwmLevel)
+
+Sets the raw PWM level for servo output #2
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #2!')
+
+
+ def CalibrateServoPosition3(self, pwmLevel):
+ """
+CalibrateServoPosition3(pwmLevel)
+
+Sets the raw PWM level for servo output #3
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #3!')
+
+
+ def CalibrateServoPosition4(self, pwmLevel):
+ """
+CalibrateServoPosition4(pwmLevel)
+
+Sets the raw PWM level for servo output #4
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+NO LIMIT CHECKING IS PERFORMED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_CALIBRATE_PWM4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending calibration servo output #4!')
+
+
+ def GetRawServoPosition1(self):
+ """
+pwmLevel = GetRawServoPosition1()
+
+Gets the raw PWM level for servo output #1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition1
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM1, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #1!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def GetRawServoPosition2(self):
+ """
+pwmLevel = GetRawServoPosition2()
+
+Gets the raw PWM level for servo output #2
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition2
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM2, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #2!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def GetRawServoPosition3(self):
+ """
+pwmLevel = GetRawServoPosition3()
+
+Gets the raw PWM level for servo output #3
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition3
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM3, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #3!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def GetRawServoPosition4(self):
+ """
+pwmLevel = GetRawServoPosition4()
+
+Gets the raw PWM level for servo output #4
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+This value requires interpreting into an actual servo position, this is already done by GetServoPosition4
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ try:
+ i2cRecv = self.RawRead(COMMAND_GET_PWM4, I2C_MAX_LEN)
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed reading raw servo output #4!')
+ return
+
+ pwmDuty = (i2cRecv[1] << 8) + i2cRecv[2]
+ return pwmDuty
+
+
+ def SetServoMinimum1(self, pwmLevel):
+ """
+SetServoMinimum1(pwmLevel)
+
+Sets the minimum PWM level for servo output #1
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #1!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_1 = self.GetServoMinimum1()
+
+
+ def SetServoMinimum2(self, pwmLevel):
+ """
+SetServoMinimum2(pwmLevel)
+
+Sets the minimum PWM level for servo output #2
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #2!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_2 = self.GetServoMinimum2()
+
+
+ def SetServoMinimum3(self, pwmLevel):
+ """
+SetServoMinimum3(pwmLevel)
+
+Sets the minimum PWM level for servo output #3
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #3!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_3 = self.GetServoMinimum3()
+
+
+ def SetServoMinimum4(self, pwmLevel):
+ """
+SetServoMinimum4(pwmLevel)
+
+Sets the minimum PWM level for servo output #4
+This corresponds to position -1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MIN_4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo minimum limit #4!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MIN_4 = self.GetServoMinimum4()
+
+
+ def SetServoMaximum1(self, pwmLevel):
+ """
+SetServoMaximum1(pwmLevel)
+
+Sets the maximum PWM level for servo output #1
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #1!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_1 = self.GetServoMaximum1()
+
+
+ def SetServoMaximum2(self, pwmLevel):
+ """
+SetServoMaximum2(pwmLevel)
+
+Sets the maximum PWM level for servo output #2
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #2!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_2 = self.GetServoMaximum2()
+
+
+ def SetServoMaximum3(self, pwmLevel):
+ """
+SetServoMaximum3(pwmLevel)
+
+Sets the maximum PWM level for servo output #3
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #3!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_3 = self.GetServoMaximum3()
+
+
+ def SetServoMaximum4(self, pwmLevel):
+ """
+SetServoMaximum4(pwmLevel)
+
+Sets the maximum PWM level for servo output #4
+This corresponds to position +1
+This value can be set anywhere from 0 for a 0% duty cycle to 65535 for a 100% duty cycle
+
+Setting values outside the range of the servo for extended periods of time can damage the servo
+LIMIT CHECKING IS ALTERED BY THIS COMMAND!
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_MAX_4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo maximum limit #4!')
+ time.sleep(DELAY_AFTER_EEPROM)
+ self.PWM_MAX_4 = self.GetServoMaximum4()
+
+
+ def SetServoStartup1(self, pwmLevel):
+ """
+SetServoStartup1(pwmLevel)
+
+Sets the startup PWM level for servo output #1
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition1 / GetServoPosition1
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_1 < self.PWM_MAX_1:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_1:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_1:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_1:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_1:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print('Servo #1 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_1, self.PWM_MAX_1))
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_1, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #1!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def SetServoStartup2(self, pwmLevel):
+ """
+SetServoStartup2(pwmLevel)
+
+Sets the startup PWM level for servo output #2
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition2 / GetServoPosition2
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_2 < self.PWM_MAX_2:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_2:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_2:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_2:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_2:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print('Servo #2 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_2, self.PWM_MAX_2))
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_2, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #2!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def SetServoStartup3(self, pwmLevel):
+ """
+SetServoStartup3(pwmLevel)
+
+Sets the startup PWM level for servo output #3
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition3 / GetServoPosition3
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_3 < self.PWM_MAX_3:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_3:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_3:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_3:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_3:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print('Servo #3 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_3, self.PWM_MAX_3))
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_3, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #3!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def SetServoStartup4(self, pwmLevel):
+ """
+SetServoStartup4(pwmLevel)
+
+Sets the startup PWM level for servo output #4
+This can be anywhere in the minimum to maximum range
+
+We recommend using the tuning GUI for setting the servo limits for SetServoPosition4 / GetServoPosition4
+This value is checked against the current servo limits before setting
+
+The value is an integer where 2000 represents a 1ms servo burst, approximately 3% duty cycle
+e.g.
+2000 -> 1 ms servo burst, typical shortest burst, ~3% duty cycle
+4000 -> 2 ms servo burst, typical longest burst, ~ 6.1% duty cycle
+3000 -> 1.5 ms servo burst, typical centre, ~4.6% duty cycle
+5000 -> 2.5 ms servo burst, higher than typical longest burst, ~ 7.6% duty cycle
+ """
+ pwmDutyLow = pwmLevel & 0xFF
+ pwmDutyHigh = (pwmLevel >> 8) & 0xFF
+ inRange = True
+
+ if self.PWM_MIN_4 < self.PWM_MAX_4:
+ # Normal direction
+ if pwmLevel < self.PWM_MIN_4:
+ inRange = False
+ elif pwmLevel > self.PWM_MAX_4:
+ inRange = False
+ else:
+ # Inverted direction
+ if pwmLevel > self.PWM_MIN_4:
+ inRange = False
+ elif pwmLevel < self.PWM_MAX_4:
+ inRange = False
+ if pwmLevel == PWM_UNSET:
+ # Force to unset behaviour (central)
+ inRange = True
+
+ if not inRange:
+ print('Servo #4 startup position %d is outside the limits of %d to %d' % (pwmLevel, self.PWM_MIN_4, self.PWM_MAX_4))
+ return
+
+ try:
+ self.RawWrite(COMMAND_SET_PWM_BOOT_4, [pwmDutyHigh, pwmDutyLow])
+ except KeyboardInterrupt:
+ raise
+ except:
+ self.Print('Failed sending servo startup position #4!')
+ time.sleep(DELAY_AFTER_EEPROM)
+
+
+ def Help(self):
+ """
+Help()
+
+Displays the names and descriptions of the various functions and settings provided
+ """
+ funcList = [UltraBorg.__dict__.get(a) for a in dir(UltraBorg) if isinstance(UltraBorg.__dict__.get(a), types.FunctionType)]
+ funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno)
+
+ print(self.__doc__)
+ print
+ for func in funcListSorted:
+ print('=== %s === %s' % (func.func_name, func.func_doc))
+
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diff --git a/Code/Pyborg_Robot_Scripts/alternative_localmap.py b/Code/Pyborg_Robot_Scripts/alternative_localmap.py
new file mode 100644
index 0000000000000000000000000000000000000000..83101f8d35426d573eb3b468914d7a99e462b4f3
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/alternative_localmap.py
@@ -0,0 +1,254 @@
+#!/usr/bin/env python
+# coding: latin-1
+
+# Import the libraries we need
+import UltraBorg3 as UltraBorg
+import time
+import numpy as np
+#from matplotlib import pyplot as plt
+import math
+
+# Settings for servo
+servoMin = -1.0 # Smallest servo position to use
+servoMax = +1.0 # Largest servo position to use
+startupDelay = 0.5 # Delay before making the initial move
+stepDelay = 0.1 # Delay between steps
+rate = 0.1 #0.05 # Step distance for all servos during initial move
+sleeptime = 1
+# In[2]:
+#ultrasonic sonsor specifics
+opening = (15/2) * (np.pi/180) #half of the full opening angle (in rad)
+#the rotating axes of the sensor (which is the center point for the localmap) is not exactly in the sensor
+#the below distance between sensor and rotating axes must be added to all distance measures
+sensor_rotatedist = 20
+#distance between front and back sensor
+backsensordistance = 149
+
+#number of total measurements
+measnumber = 2*int((servoMax-servoMin)/rate)
+overlap = int(opening/(2*np.pi/measnumber)+1)
+print(overlap)
+
+#local map specifications
+localdim = 20 #localmapdim
+gridsize = 100 #gridsize in mm
+localsize = gridsize*localdim #resulting localsize in mm
+
+# Start the UltraBorg
+UB = UltraBorg.UltraBorg() # Create a new UltraBorg object
+UB.Init() # Set the board up (checks the board is connected)
+
+#function moves servo, returns measurements
+def get_measures():
+ N = measnumber
+ #list of all measurements
+ measurements = np.zeros(N)
+
+ # Set our initial servo position
+ servo1 = -1
+ UB.SetServoPosition1(servo1)
+ UB.SetServoPosition2(servo1)
+
+ # Read ultrasonic values
+ time.sleep(2.5)
+ usm1 = UB.GetDistance1()
+ usm2 = UB.GetDistance2()
+ print(usm1,usm2)
+ #print(usm1,usm2)
+ #add to meas list
+ measurements[0] = usm1
+ measurements[int(N/2)] = usm2
+ print(N)
+ #loop for all servo positions (N/2 due to 2 sensors)
+ for i in range(1,int(N/2)):
+ #move serve by rate
+ servo1 += rate
+ UB.SetServoPosition1(servo1)
+ UB.SetServoPosition2(servo1)
+
+ # Read ultrasonic values
+ time.sleep(sleeptime)
+ usm1 = UB.GetDistance1()
+ usm2 = UB.GetDistance2()
+ #print(usm1,usm2)
+
+ #add to meas list
+ measurements[0+i] = usm1
+ measurements[int(N/2)+i] = usm2
+
+ measurements += sensor_rotatedist #add rotatedist to all measurements
+ return measurements
+
+
+
+def build_map(meas1,meas2,meas3,meas4):
+ N = 20
+ gridsize = 100
+ map = np.zeros((N,N))
+
+ #calc limits from measurements
+ rightlimit = min(N,int(N/2+meas1/gridsize))
+ uplimit = min(N,int(N/2+meas2/gridsize))
+ leftlimit = max(0,int(N/2-meas3/gridsize))
+ downlimit = max(0,int(N/2-meas4/gridsize))
+
+
+ #wall corresponding to meas1:
+ if meas1 < N/2*gridsize:
+ grid_x = int(N/2+meas1/gridsize)
+ for i in range(downlimit,uplimit):
+ map[grid_x,i] = 1-1.5*abs(N/2-i)/N
+
+ #wall corresponding to meas2:
+ if meas2 < N/2*gridsize:
+ grid_y = int(N/2+meas2/gridsize)
+ for i in range(leftlimit,rightlimit):
+ map[i,grid_y] = 1-1.5*abs(N/2-i)/N
+
+ #wall corresponding to meas3:
+ if meas3 < N/2*gridsize:
+ grid_x = int(N/2-meas3/gridsize)
+ for i in range(downlimit,uplimit):
+ map[grid_x,i] = 1-1.5*abs(N/2-i)/N
+
+ #wall corresponding to meas4:
+ if meas4 < N/2*gridsize:
+ grid_y = int(N/2-meas4/gridsize)
+ for i in range(leftlimit,rightlimit):
+ map[i,grid_y] = 1-1.5*abs(N/2-i)/N
+
+ #fill in between with unoccupied
+ for i in range(leftlimit+1,rightlimit):
+ for j in range(downlimit+1,uplimit):
+ map[i,j] = -0.5
+ #left and down need extra fills at the edges!
+ if meas3 >= N/2*gridsize:
+ for j in range(downlimit+1,uplimit):
+ map[0,j] = -0.5
+ if meas4 >= N/2*gridsize:
+ map[0,0] = -0.5
+ if meas4 >= N/2*gridsize:
+ for i in range(leftlimit+1,rightlimit):
+ map[i,0] = -0.5
+
+
+ return map
+
+
+# In[3]:
+
+
+def rotate_to_localmap(old_map,angle):
+ N = len(old_map)
+ new_map = np.zeros((N,N))
+ for i in range(N):
+ for j in range(N):
+ #coordinate of grid_cell in old map
+ old_x = i+1/2 -N/2
+ old_y = j+1/2 -N/2
+ #coordinate of grid_cell in new map
+ new_x = old_x*math.cos(angle) - old_y*math.sin(angle)
+ new_y = old_x*math.sin(angle) + old_y*math.cos(angle)
+ #grid of grid_cell in new map
+ new_i = int(new_x + N/2)
+ new_j = int(new_y + N/2)
+ #apply if grid is within bounds
+ if 0 <= new_i < N and 0<= new_j < N:
+ new_map[new_i,new_j] = old_map[i,j]
+
+ return new_map
+
+
+# In[4]:
+
+
+def change_measurements(sensordist,angle,meas1,meas2,meas3,meas4):
+ #measurement shifting for robot with 2 sensors at different positions
+ #sensors are located along the robots forward heading axis, back sensor is sensordist from front
+ shiftx = sensordist*math.cos(-angle)
+ shifty = sensordist*math.sin(-angle)
+
+ if shiftx < 0:
+ meas1 -= shiftx
+ else:
+ meas3 += shiftx
+ if shifty < 0:
+ meas2 -= shifty
+ else:
+ meas4 += shifty
+
+ return meas1,meas2,meas3,meas4
+
+
+# In[5]:
+
+
+def find_4measures(measlist):
+ meascount = len(measlist)
+
+ #first find minimum
+ minmeas = measlist[0]
+ minindex = 0
+ for i in range(1,meascount):
+ if measlist[i] < minmeas:
+ minmeas = measlist[i]
+ minindex = i
+
+ #determine the 4 measurments
+ meas1 = measlist[minindex]
+ meas2 = measlist[int(minindex+meascount/4)%meascount]
+ meas3 = measlist[int(minindex+meascount/2)%meascount]
+ meas4 = measlist[int(minindex+3*meascount/4)%meascount]
+ print(minindex)
+ #shortest measurement angle (rotation angle for rotate_to_localmap)
+ #index 0 correspond to -pi/2 and angle increases with higher index
+ angle = -(np.pi/2 - minindex*2*np.pi/meascount)
+
+ return meas1,meas2,meas3,meas4,angle
+
+
+# In[8]:
+
+
+#test = build_map(5,15,5,15)
+#test = rotate_to_localmap(test,np.pi/3)
+#plt.imshow(test.T,origin='lower')
+
+
+# In[7]:
+
+
+#meastest = change_measurements(1,7*np.pi/4,10,10,10,10)
+#print(meastest)
+
+def build_localmap():
+ #take measurements
+ measurements = get_measures()
+ #extract 4 measurements
+ meas1,meas2,meas3,meas4,angle = find_4measures(measurements)
+ #convert backmeasures to frontmeasures
+ meas1,meas2,meas3,meas4 = change_measurements(backsensordistance,angle,meas1,meas2,meas3,meas4)
+ #build unrotated map where meas1 is in x-direction
+ intermap = build_map(meas1,meas2,meas3,meas4)
+ #rotate map so robot is heading in x-direction
+ new_map = rotate_to_localmap(intermap,angle)
+ #return it
+ return new_map
+
+### In[ ]:
+##testmeasures = get_measures()
+##meas1,meas2,meas3,meas4,angle = find_4measures(testmeasures)
+##print(testmeasures)
+##print(meas1,meas2,meas3,meas4,angle)
+##
+##meas1,meas2,meas3,meas4 = change_measurements(backsensordistance,angle,meas1,meas2,meas3,meas4)
+##intermap = build_map(meas1,meas2,meas3,meas4)
+###new_map = rotate_to_localmap(intermap,angle)
+##
+#new_map = build_localmap()
+#from matplotlib import pyplot as plt
+#plt.imshow(intermap.T,origin='lower')
+#plt.show()
+#new_map = rotate_to_localmap(intermap,angle)
+#plt.imshow(new_map.T,origin='lower',cmap="Greys")
+#plt.show()
\ No newline at end of file
diff --git a/Code/Pyborg_Robot_Scripts/lefigure.png b/Code/Pyborg_Robot_Scripts/lefigure.png
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diff --git a/Code/Pyborg_Robot_Scripts/localmap.py b/Code/Pyborg_Robot_Scripts/localmap.py
new file mode 100644
index 0000000000000000000000000000000000000000..c28a730ba944649bccc5aa37b1e0ce4946648811
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/localmap.py
@@ -0,0 +1,236 @@
+#!/usr/bin/env python
+# coding: latin-1
+
+# Import the libraries we need
+import UltraBorg3 as UltraBorg
+import time
+import numpy as np
+#from matplotlib import pyplot as plt
+
+# Settings for servo
+servoMin = -1.0 # Smallest servo position to use
+servoMax = +1.0 # Largest servo position to use
+startupDelay = 0.5 # Delay before making the initial move
+stepDelay = 0.1 # Delay between steps
+rate = 0.1 #0.05 # Step distance for all servos during initial move
+sleeptime = 1
+
+#ultrasonic sonsor specifics
+opening = (15/2) * (np.pi/180) #half of the full opening angle (in rad)
+#the rotating axes of the sensor (which is the center point for the localmap) is not exactly in the sensor
+#the below distance between sensor and rotating axes must be added to all distance measures
+sensor_rotatedist = 20
+
+#number of total measurements
+measnumber = 2*int((servoMax-servoMin)/rate)
+overlap = int(opening/(2*np.pi/measnumber)+1)
+print(overlap)
+
+#local map specifications
+localdim = 20 #localmapdim
+gridsize = 100 #gridsize in mm
+localsize = gridsize*localdim #resulting localsize in mm
+
+#returns matrix which
+#assigns each gridposition to a measurement entry from 0 to measnumber-1
+def assignmap():
+ assigner = np.zeros((localdim,localdim))
+ assigner = []
+ for i in range(localdim):
+ assignerrow = []
+ for j in range(localdim):
+ assignerrow.append([])
+ assigner.append(assignerrow)
+ #distances is divided into distances for front sensor (0) and for back sensor (1)
+ #this is necessary since the sensors are not at the same position
+ distances = [np.zeros((localdim,localdim)),np.zeros((localdim,localdim))]
+ #first loop for front sensor only
+ for i in range(localdim):
+ for j in range(localdim):
+ #coordinates, origin of the map at localdim/2
+ y = j+0.5 -localdim/2
+ x = i+0.5 -localdim/2
+ #assigning by calculating polar coordinates
+ #assign angle to correct sensor
+ #save distance for later use
+ angle = np.arctan2(y,x) + np.pi/2 #add pi/2 since measurement 0 corresponds to an angle of -pi/2
+ if angle < 0:
+ angle += 2*np.pi
+ if angle > 2*np.pi:
+ angle -= 2*np.pi
+ assign_to = (int(angle*measnumber/(2*np.pi) +0.5))%measnumber
+ #only measurements below measnumber/2 belong to front sensor
+ #others to be added in a second loop
+ if assign_to < measnumber/2:
+ assigner[i][j].append(assign_to)
+ #distance grid to map-origin in mm
+ dist = np.sqrt(x**2+y**2) * gridsize
+ distances[0][i,j] = dist
+
+ #check all near neigboring sensors in overlap range
+ for k in [l for l in range(assign_to-overlap,assign_to+overlap) if l!=assign_to]:
+ k_plus = k % measnumber
+ #sensor field of view between minus and plus angle, remember 2*np.pi periodicity
+ minus = 2*np.pi*k_plus/(measnumber)-opening
+ plus = 2*np.pi*k_plus/(measnumber)+opening
+
+ if k_plus < measnumber/2: #only front sensor
+ #check if angle between minus and plus (many cases due to periodicity)
+ if angle > minus:
+ if angle < plus:
+ assigner[i][j].append(k_plus)
+ elif minus < 0:
+ if angle > minus + 2*np.pi:
+ assigner[i][j].append(k_plus)
+ elif plus > 2*np.pi:
+ assigner[i][j].append(k_plus)
+ elif plus > 2*np.pi:
+ if angle < plus - 2*np.pi:
+ assigner[i][j].append(k_plus)
+
+ #second loop for back sensor only
+ backsensordistance = 149 #distance between front/back sensor in mm
+ for i in range(localdim):
+ for j in range(localdim):
+ #coordinates, origin of the map at localdim/2
+ y = j+0.5 -localdim/2
+ x = i+0.5 -localdim/2 + backsensordistance/localsize #add distance between sensors since backsensor is located at x= - backsensordistance
+ #assigning by calculating polar coordinates
+ #assign angle to correct sensor
+ #save distance for later use
+ angle = np.arctan2(y,x) + np.pi/2 #add pi/2 since measurement 0 corresponds to an angle of -pi/2
+ if angle < 0:
+ angle += 2*np.pi
+ if angle > 2*np.pi:
+ angle -= 2*np.pi
+ assign_to = (int(angle*measnumber/(2*np.pi) +0.5))%measnumber
+ #only measurements >= measnumber/2 belong to back sensor
+ if assign_to >= measnumber/2:
+ assigner[i][j].append(assign_to)
+ #distance grid to back sensor in mm
+ dist = np.sqrt(x**2+y**2) * gridsize
+ distances[1][i,j] = dist
+
+ #check all near neigboring sensors in overlap range
+ for k in [l for l in range(assign_to-overlap,assign_to+overlap) if l!=assign_to]:
+ k_plus = k % measnumber
+ #sensor field of view between minus and plus angle, remember 2*np.pi periodicity
+ minus = 2*np.pi*k_plus/(measnumber)-opening
+ plus = 2*np.pi*k_plus/(measnumber)+opening
+
+ if k_plus >= measnumber/2: #only back sensor
+ #check if angle between minus and plus (many cases due to periodicity)
+ if angle > minus:
+ if angle < plus:
+ assigner[i][j].append(k_plus)
+ elif minus < 0:
+ if angle > minus + 2*np.pi:
+ assigner[i][j].append(k_plus)
+ elif plus > 2*np.pi:
+ assigner[i][j].append(k_plus)
+ elif plus > 2*np.pi:
+ if angle < plus - 2*np.pi:
+ assigner[i][j].append(k_plus)
+
+ #print(assigner)
+ return assigner,distances
+#assigner assign gridpos to sensorreading
+assigner,distances = assignmap()
+print(distances)
+
+# Start the UltraBorg
+UB = UltraBorg.UltraBorg() # Create a new UltraBorg object
+UB.Init() # Set the board up (checks the board is connected)
+
+
+
+
+#function moves servo, returns measurements
+def get_measures():
+ N = measnumber
+ #list of all measurements
+ measurements = np.zeros(N)
+
+ # Set our initial servo position
+ servo1 = -1
+ UB.SetServoPosition1(servo1)
+ UB.SetServoPosition2(servo1)
+
+ # Read ultrasonic values
+ time.sleep(sleeptime)
+ usm1 = UB.GetDistance1()
+ usm2 = UB.GetDistance2()
+ print(type(usm1))
+ #print(usm1,usm2)
+ #add to meas list
+ measurements[0] = usm1
+ measurements[int(N/2)] = usm2
+
+ #loop for all servo positions (N/2 due to 2 sensors)
+ for i in range(1,int(N/2)):
+ #move serve by rate
+ servo1 += rate
+ UB.SetServoPosition1(servo1)
+ UB.SetServoPosition2(servo1)
+
+ # Read ultrasonic values
+ time.sleep(sleeptime)
+ usm1 = UB.GetDistance1()
+ usm2 = UB.GetDistance2()
+ #print(usm1,usm2)
+
+ #add to meas list
+ measurements[0+i] = usm1
+ measurements[int(N/2)+i] = usm2
+
+ measurements += sensor_rotatedist #add rotatedist to all measurements
+ return measurements
+
+def localmap(measurements):
+ #alpha is range in which cells are considered occupied (should be min gridsize/2)
+ alpha = gridsize/2
+ #occupied cells are adjusted by l_plus, unoccupied by l_minus
+ l_plus = 1
+ l_minus = 0.5
+ #cycle through each cell of the map and apply sensor data
+ map = np.zeros((localdim,localdim))
+
+ for i in range(localdim):
+ for j in range(localdim):
+ #multiple measurement correspond to this cell due to overlap, choose the min value of these
+ #intial min values
+ mink = assigner[i][j][0]
+ minmeas = measurements[mink]
+ #loop through overlap choose the minimum measurement in the overlap
+ for k in assigner[i][j]:
+ #set new min if smaller
+ if measurements[k] < minmeas:
+ minmeas = measurements[k]
+ mink = k
+
+
+ #front or back sensor?
+ if mink < measnumber/2:
+ sensor = 0
+ else:
+ sensor = 1
+
+ #check measurements
+ if distances[sensor][i][j] < measurements[mink] - alpha:
+ #unoccupied measurement
+ map[i][j] -= l_minus
+ elif distances[sensor][i][j] < measurements[mink] + alpha:
+ #occupied measurement
+ map[i][j] += l_plus
+ return map
+
+#building localmap by getting measures and converting to map
+def build_localmap():
+ measures = get_measures()
+ return localmap(measures)
+
+test = build_localmap()
+from matplotlib import pyplot as plt
+plt.imshow(test.T, interpolation='nearest',cmap='Greys',origin = 'lower', vmin=-2, vmax=2)
+plt.show()
+
diff --git a/Code/Pyborg_Robot_Scripts/losfiguros.png b/Code/Pyborg_Robot_Scripts/losfiguros.png
new file mode 100644
index 0000000000000000000000000000000000000000..52f4332e7365cfdb7ac02096cd37e9648618c9b7
Binary files /dev/null and b/Code/Pyborg_Robot_Scripts/losfiguros.png differ
diff --git a/Code/Pyborg_Robot_Scripts/movement.py b/Code/Pyborg_Robot_Scripts/movement.py
new file mode 100644
index 0000000000000000000000000000000000000000..76f7e37fdad1c7c4ab6877b0d4143f7db3f9e5e5
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/movement.py
@@ -0,0 +1,52 @@
+import ThunderBorg3
+import time
+import sys
+import numpy as np
+
+# Setup the ThunderBorg
+global TB
+TB = ThunderBorg3.ThunderBorg() # Create a new ThunderBorg object
+#TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
+TB.Init() # Set the board up (checks the board is connected)
+if not TB.foundChip:
+ boards = ThunderBorg.ScanForThunderBorg()
+ if len(boards) == 0:
+ print ('No ThunderBorg found, check you are attached :)')
+ else:
+ print ('No ThunderBorg at address %02X, but we did find boards:') % (TB.i2cAddress)
+ for board in boards:
+ print (' %02X (%d)' % (board, board))
+ print ('If you need to change the I²C address change the setup line so it is correct, e.g.')
+ print ('TB.i2cAddress = 0x%02X' % (boards[0]))
+ sys.exit()
+
+stepDelay = 1
+
+def moving(step0,step1,length=stepDelay):
+ TB.SetMotor1(step0) # Set the first motor to the first value in the pair
+ TB.SetMotor2(step1) # Set the second motor to the second value in the pair
+ #print ('%+.1f %+.1f' % (step0, step1))
+ time.sleep(length) # Wait between steps
+ TB.MotorsOff() # Turn both motors off
+#moving(0.65,-0.65)
+
+
+def forward():
+ moving(0.62,0.62)
+
+def backward():
+ moving(-0.62,-0.62)
+
+def left():
+ moving(-0.62,0.62)
+
+def right():
+ moving(0.62,-0.62)
+
+def execute_movement(order):
+ splitted = order.split('#')
+ wheelleft = float(splitted[1])
+ wheelright = float(splitted[2])
+ if wheelleft != 0:
+ wheelrightcorrection = abs(wheelright/wheelleft)
+ moving(np.sign(wheelleft)*0.62,np.sign(wheelright)*0.62*wheelrightcorrection,abs(wheelleft))
\ No newline at end of file
diff --git a/Code/Pyborg_Robot_Scripts/networking.py b/Code/Pyborg_Robot_Scripts/networking.py
new file mode 100644
index 0000000000000000000000000000000000000000..3b598354437fb832be01b2baaba937218828cd21
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/networking.py
@@ -0,0 +1,64 @@
+import socket
+import numpy as np
+from io import StringIO
+import struct
+
+def send_msg(sock, msg):
+ # Prefix each message with a 4-byte length (network byte order)
+ msg = struct.pack('>I', len(msg)) + msg
+ sock.sendall(msg)
+
+def recv_msg(sock):
+ # Read message length and unpack it into an integer
+ raw_msglen = recvall(sock, 4)
+ if not raw_msglen:
+ return None
+ msglen = struct.unpack('>I', raw_msglen)[0]
+ # Read the message data
+ return recvall(sock, msglen)
+
+def recvall(sock, n):
+ # Helper function to recv n bytes or return None if EOF is hit
+ data = bytearray()
+ while len(data) < n:
+ packet = sock.recv(n - len(data))
+ if not packet:
+ return None
+ data.extend(packet)
+ return data
+
+
+##
+##def server():
+## host = socket.gethostname() #get local machine name
+## #print(host)
+## port = 4223
+## print("hosting on: '" + str(host) + "' \t port: " + str(port))
+##
+## s = socket.socket()
+## s.bind(('',port))
+##
+## s.listen(1)
+## client_socket, adress = s.accept()
+## print("Connection from: " + str(adress))
+## data='empty'
+## while data != 'q':
+## data = recv_msg(client_socket).decode('utf-8')#client_socket.recv(1024).decode('utf-8')
+## if not data:
+## break
+## print("From online user: " + data)
+## data = data.upper()
+## send_msg(client_socket,data.encode('utf-8'))#client_socket.send(data.encode('utf-8'))
+## if data == 'NUMPY':
+## print("doing the numpy")
+## nptest = np.ones((20,20))
+## nptest[0][0] = -0.3
+## send = nptest.tostring()
+## send_msg(client_socket,send)
+## break
+## client_socket.close()
+##
+##
+##
+##server()
+
\ No newline at end of file
diff --git a/Code/Pyborg_Robot_Scripts/remote_controlling.py b/Code/Pyborg_Robot_Scripts/remote_controlling.py
new file mode 100644
index 0000000000000000000000000000000000000000..e86b23fbc470280276f97b0501c1e388c6ddbabc
--- /dev/null
+++ b/Code/Pyborg_Robot_Scripts/remote_controlling.py
@@ -0,0 +1,55 @@
+import networking as net
+import numpy as np
+from io import StringIO
+import alternative_localmap as localmap
+import movement
+
+def server():
+ host = net.socket.gethostname() #get local machine name
+ #print(host)
+ port = 4223
+ print("hosting on: '" + str(host) + "' \t port: " + str(port))
+
+ s = net.socket.socket()
+ s.bind(('',port))
+
+ s.listen(1)
+ client_socket, adress = s.accept()
+ print("Connection from: " + str(adress))
+ data='empty'
+ #until data = q do move/meas loop
+ while data != 'q':
+ data = net.recv_msg(client_socket).decode('utf-8')#client_socket.recv(1024).decode('utf-8')
+ if not data or data == 'q':
+ break
+ if data == 'reset':
+ #reset only necessary for simulated robots
+ #so do nothing
+ send = 'done'
+ net.send_msg(client_socket,send.encode('utf-8'))
+ else:
+ print("Executing movement: " + data)
+ movement.execute_movement(data)
+
+ localm = localmap.build_localmap()
+
+ send_localm = localm.tostring()
+ net.send_msg(client_socket,send_localm)
+## data = data.upper()
+## net.send_msg(client_socket,data.encode('utf-8'))#client_socket.send(data.encode('utf-8'))
+## if data == 'NUMPY':
+## print("doing the numpy")
+## nptest = np.ones((20,20))
+## nptest[0][0] = -0.3
+## send = nptest.tostring()
+## net.send_msg(client_socket,send)
+## break
+ client_socket.close()
+
+
+
+server()
+
+
+
+
\ No newline at end of file
diff --git a/Code/QN_alldirrobot.ipynb b/Code/QN_alldirrobot.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..6398967b3771be30c78c6b6bc05f961eb4e2d423
--- /dev/null
+++ b/Code/QN_alldirrobot.ipynb
@@ -0,0 +1,286 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "Using TensorFlow backend.\n"
+ ]
+ }
+ ],
+ "source": [
+ "#imports\n",
+ "#use keras for neural net\n",
+ "import numpy as np\n",
+ "import random\n",
+ "from keras import models\n",
+ "from keras import layers\n",
+ "from keras.optimizers import Adam\n",
+ "from keras.optimizers import SGD\n",
+ "from keras.metrics import mse\n",
+ "from collections import deque\n",
+ "import tensorflow as tf\n",
+ "import os"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#class of the QNagent (structure can be used for any actionvalue-function-learning using q-learning)\n",
+ "class QNAgent:\n",
+ " def __init__(self,statesize = 4):\n",
+ " self.state_size = statesize #uncertainty, relocate-,explore-counter , bank\n",
+ " self.output_size = 2 #explore vs relocate\n",
+ " #memory of past state,action,reward,next state pairs\n",
+ " #using deque to only store up to 1000 memory and then delete old ones\n",
+ " self.memory = deque(maxlen=1000) \n",
+ " self.gamma = 0.6#0.3 # discount factor\n",
+ " self.eps = 1 # epsilon for use in epsilon greedy strategies (starting at one and lowering)\n",
+ " self.epsdecay = 0.993 #epsilon decay\n",
+ " self.epsmin = 0.05 #minimum value of epsilon\n",
+ " self.learning_rate = 0.001 #learning rate for neural net\n",
+ " self.model = self._build_model()\n",
+ " \n",
+ " \n",
+ " def _build_model(self):\n",
+ " #building the neural network and comppiling\n",
+ " input1 = layers.Input(shape=(self.state_size,)) #input layer\n",
+ " #three fully connected hidden layers of sizes state_size,2*state_size,state_size\n",
+ " fully1 = layers.Dense(self.state_size,activation='relu')(input1)\n",
+ " fully2 = layers.Dense(2*self.state_size,activation='relu')(fully1)\n",
+ " fully3 = layers.Dense(self.state_size,activation='relu')(fully2)\n",
+ " #fully connected output layer with linear activation\n",
+ " out = layers.Dense(self.output_size,activation='linear')(fully3)\n",
+ " #combine layers to model\n",
+ " model = models.Model(inputs = input1,outputs=out)\n",
+ " #using stochastic gradient descent\n",
+ " sgd = SGD(lr=self.learning_rate, clipnorm=1.)\n",
+ " \n",
+ " #combine sgd with mean squared error as loss\n",
+ " model.compile(optimizer=sgd,loss = 'mse')\n",
+ " \n",
+ " return model\n",
+ " \n",
+ " \n",
+ " def remember(self,state,action,reward,next_state,done):\n",
+ " #add to memory\n",
+ " self.memory.append((state,action,reward,next_state,done))\n",
+ " \n",
+ " def act(self,state):\n",
+ " #act epsilon greedy - random with prob eps, else greedy\n",
+ " values = self.model.predict(state)\n",
+ "\n",
+ " if np.random.rand() <= self.eps:\n",
+ " action = random.randrange(self.output_size) #return random action\n",
+ " else:\n",
+ " action = np.argmax(values)\n",
+ " return action #return greedy action\n",
+ " \n",
+ " def replay(self,batch_size):\n",
+ " #replaying from memory to learn\n",
+ " minibatch = random.sample(self.memory, batch_size) #randomly sample batchsize memories (this decorelates)\n",
+ " for state, action, reward, next_state, done in minibatch:\n",
+ " #target is estimate of value function in current cell\n",
+ " target = reward\n",
+ " if not done:\n",
+ " target = reward + self.gamma * np.amax(self.model.predict(next_state)[0])\n",
+ " #since neural net is predicting for all cells only the value for the next_cell differs in target_f\n",
+ " target_allact = self.model.predict(state)\n",
+ " target_allact[0][action] = target\n",
+ " #fit\n",
+ " self.model.fit(state,target_allact,epochs = 1,verbose=0)\n",
+ " #lower epsilon\n",
+ " if self.eps > self.epsmin:\n",
+ " self.eps *= self.epsdecay\n",
+ " \n",
+ " "
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#function autosaves the current weights/model every few episodes\n",
+ "def autosave(model,episode, episodeplus, saveinterval):\n",
+ " #plus in case loading an autosave\n",
+ " episode = episode + episodeplus\n",
+ " #autosave model in case programm shuts down before finishing\n",
+ " name1 = \"alldirexplorandmap2_autosave\" + str(episode) + \".h5\"\n",
+ " name2 = \"alldirexplorandmap2_autosave\" + str(episode) + \"_weights.h5\"\n",
+ " model.save(name1)\n",
+ " model.save_weights(name2)\n",
+ " name1 = \"alldirexplorandmap2_autosave\" + str(episode-saveinterval) + \".h5\"\n",
+ " name2 = \"alldirexplorandmap2_autosave\" + str(episode-saveinterval) + \"_weights.h5\"\n",
+ " if os.path.exists(name1): #remove old autosave to avoid cluttering\n",
+ " os.remove(name1)\n",
+ " os.remove(name2)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#environment needs:\n",
+ "#reset method returning start state\n",
+ "#step method executing action returning next_state, reward, done\n",
+ "#maybe render method\n",
+ "\n",
+ "#learn algorithm plays the \"game\" and adjusts the neural net\n",
+ "def learn_dqn(environment,statesize=4,loadweights = \"\"):\n",
+ " global errorcount #errorcount abort if too high\n",
+ " episodeplus = 0 #when loading an autosave one could start at a higher episodeocount\n",
+ " autosaveinterval = 2 #save every x episodes\n",
+ " \n",
+ " agent = QNAgent(statesize) #define agent by using QNAgent class\n",
+ " env = environment #define environment (will be from RobotGameEnvironment.py)\n",
+ " #iterate the game\n",
+ " max_episodes = 2000\n",
+ " if loadweights != \"\":\n",
+ " agent.model.load_weights(loadweights)\n",
+ " \n",
+ " \n",
+ " for i in range(max_episodes):\n",
+ " #reset; state always needs to be reshaped for use in neural net\n",
+ " state = np.reshape(env.reset(),[1,statesize])\n",
+ " global isdone\n",
+ " isdone = False\n",
+ " errorcount = 0\n",
+ " # iterate through max_actions actions\n",
+ " max_actions = 60\n",
+ " for actionnumber in range(max_actions):\n",
+ "\n",
+ " # decide epsilon greedy action\n",
+ " action = agent.act(state)\n",
+ " print(\"action = \" + str(action))\n",
+ " \n",
+ " # execute the action and save/reshape output\n",
+ " next_state, reward, done = env.step(action)\n",
+ " next_state = np.reshape(next_state,[1,statesize])\n",
+ " print(next_state,reward)\n",
+ " # store in memory\n",
+ " agent.remember(state, action, reward, next_state, done)\n",
+ "\n",
+ " # overwrite old state\n",
+ " state = next_state\n",
+ "\n",
+ " # check if done \n",
+ " if errorcount > 2:\n",
+ " break\n",
+ " if done or isdone:\n",
+ " #end episode\n",
+ " break\n",
+ " print(\"episode: {}/{}\".format(i+1,max_episodes))\n",
+ " #train agent from memory\n",
+ " batch_size = min(len(agent.memory)-1,400)\n",
+ " agent.replay(batch_size)\n",
+ " if i%autosaveinterval == 0:\n",
+ " autosave(agent.model,i, episodeplus, autosaveinterval)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#play a once on neuralnet for testing\n",
+ "#same as above but with rendering of the environment\n",
+ "#show in tk\n",
+ "def playonTk_withdqn(environment,tk,statesize=4,loadweights = \"\"):\n",
+ " global stop_playonTk\n",
+ " stop_playonTk = False\n",
+ " #automatic stopbutton\n",
+ " autostopb = Button(tk, text=\"Stop\", command=lambda: change_stop_playonTk(True))\n",
+ " autostopb.grid(row = 15, column = 3,columnspan = 2)\n",
+ " \n",
+ " agent = QNAgent(statesize)\n",
+ " env = environment\n",
+ " #render the environment!\n",
+ " env.drawing = True\n",
+ " \n",
+ " \n",
+ " if loadweights != \"\":\n",
+ " agent.model.load_weights(loadweights)\n",
+ " agent.eps = 0\n",
+ " \n",
+ " #reset; state always needs to be reshaped for use in neural net\n",
+ " state = np.reshape(env.reset(),[1,statesize])\n",
+ " global isdone\n",
+ " isdone = False\n",
+ " # iterate through max_actions actions\n",
+ " max_actions = 60\n",
+ " for actionnumber in range(max_actions):\n",
+ " tk.update()\n",
+ " if stop_playonTk == False:\n",
+ "\n",
+ " # decide epsilon greedy action\n",
+ " action = agent.act(state)\n",
+ " print(\"action = \" + str(action))\n",
+ "\n",
+ " # execute the action and save/reshape output\n",
+ " next_state, reward, done = env.step(action)\n",
+ " next_state = np.reshape(next_state,[1,statesize])\n",
+ "\n",
+ " # store in memory\n",
+ " agent.remember(state, action, reward, next_state, done)\n",
+ "\n",
+ " # overwrite old state\n",
+ " state = next_state\n",
+ "\n",
+ " # check if done\n",
+ " global errorcount\n",
+ " if errorcount > 2:\n",
+ " break\n",
+ " if done or isdone:\n",
+ " #end episode\n",
+ " break\n",
+ " else:\n",
+ " break"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 6,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def change_stop_playonTk(value): #function for stop button, ends episode\n",
+ " global stop_playonTk\n",
+ " stop_playonTk = value"
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.8"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/Code/RobotGameEnvironment.ipynb b/Code/RobotGameEnvironment.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..2423a8d662c1f72136d3fb8172e567345b0f0aa1
--- /dev/null
+++ b/Code/RobotGameEnvironment.ipynb
@@ -0,0 +1,238 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#imports\n",
+ "import numpy as np\n",
+ "import random\n",
+ "import socket\n",
+ "\n",
+ "%run alldirparticlefilt.ipynb"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "class RobotGame:\n",
+ " def __init__(self,sock,allparticles, bestparticle = 0, render_choice = False):\n",
+ " #initialize the game\n",
+ " uncert = 0\n",
+ " #environment state and statesize\n",
+ " self.state = [uncert,0,0,0] #consists of uncertainty, relocate-,explore-counter , bank\n",
+ " self.statesize = len(self.state)\n",
+ " \n",
+ " #socket to communicate with\n",
+ " self.socket = sock\n",
+ " #particles\n",
+ " self.particles = allparticles\n",
+ " \n",
+ " self.drawing = render_choice #to draw or not to draw\n",
+ " \n",
+ " def reset(self):\n",
+ " #reset the state to zeros\n",
+ " self.state = np.zeros(self.statesize) #(uncertainty, relocate-,explore-counter , bank)\n",
+ " \n",
+ " #create new particles\n",
+ " newparticles = []\n",
+ " for i in range(len(self.particles)):\n",
+ " newparticles.append(particle(0,0,0))\n",
+ " self.particles = newparticles\n",
+ " \n",
+ " movemessage(\"reset\",self.socket,self.particles,drawing = self.drawing)\n",
+ " movemessage(\"Stay\",self.socket,self.particles,drawing = self.drawing)\n",
+ " \n",
+ " return self.state\n",
+ " \n",
+ " #step function for 2 actions: explore/relocate\n",
+ " def step(self,action):\n",
+ " #change counters\n",
+ " if action == 0:#explore\n",
+ " self.state[2] += 1 #explore-counter\n",
+ " self.state[1] = 0 #relocate-counter\n",
+ " if action == 1:#relocate\n",
+ " self.state[2] = 0 #explore-counter\n",
+ " self.state[1] += 1 #relocate-counter\n",
+ " \n",
+ " full_reward = 0 #initialize reward\n",
+ " \n",
+ " continues = True #continues loop is for recalculating the explore/relocate action mid-action\n",
+ " targetlocation = 'none'\n",
+ " while continues == True:\n",
+ " continues = False\n",
+ " \n",
+ " if action == 0:#explore\n",
+ " orders = self.particles[bestparticle].nearest_unobserved()\n",
+ "\n",
+ " if action == 1:#relocate\n",
+ " orders,targetlocation = self.particles[bestparticle].retrace(aim_for = targetlocation)\n",
+ "\n",
+ "\n",
+ " prev_scale_factor = reward_scaling(self.state[0])\n",
+ "\n",
+ "\n",
+ " \n",
+ " #execute orders via socket\n",
+ " for i in range(len(orders)):\n",
+ " breakcondition, immediate_reward, new_uncertainty = movemessage(orders[i],self.socket,self.particles,drawing = self.drawing)\n",
+ " if breakcondition == True:\n",
+ " break\n",
+ "\n",
+ " scale_factor = reward_scaling(new_uncertainty)\n",
+ "\n",
+ " #to account for pose (and map) uncertainty in the robot we are banking part of the reward\n",
+ " #depending on how the pose spread, this reward can be obtained later if the robots uncertainty lowers\n",
+ " if new_uncertainty < self.state[0]: #better uncertainty leads to unbanking reward\n",
+ " unbank = self.state[3]*abs((prev_scale_factor-scale_factor)/(1-prev_scale_factor))\n",
+ " else:\n",
+ " unbank = 0\n",
+ " full_reward += immediate_reward* scale_factor + unbank #add to full reward\n",
+ " self.state[3] += immediate_reward*(1-scale_factor) - unbank #change banked reward\n",
+ "\n",
+ " self.state[0] = new_uncertainty #change old uncertainty to new\n",
+ " prev_scale_factor = scale_factor #new scale factor becomes old\n",
+ " if i > 7 and (len(orders)-i)>7:\n",
+ " #to avoid to long exploration/relocate paths consider recalculating your path after some steps\n",
+ " continues = True\n",
+ " break\n",
+ " \n",
+ " done = False #done always false for now\n",
+ " return self.state, full_reward, done\n",
+ " #return next_state, reward, done"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#reward scaling\n",
+ "#was a simple exp(-x) function at the beginning with x being the uncertainty, didnt work well\n",
+ "#second attempt with exp(-x^2)\n",
+ "def reward_scaling(uncertainty):\n",
+ " #mu = 10\n",
+ " #return np.exp(-uncertainty/mu)\n",
+ " a = 14\n",
+ " return np.exp(-uncertainty**2/a**2)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "0\n",
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+ "9\n"
+ ]
+ }
+ ],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.8"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/Code/Simulate_Alldirrobot.ipynb b/Code/Simulate_Alldirrobot.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..894c128c19c27e0c486960a5b7658ebe2d0c68db
--- /dev/null
+++ b/Code/Simulate_Alldirrobot.ipynb
@@ -0,0 +1,420 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "import numpy as np\n",
+ "import math\n",
+ "import random"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "%run maps.ipynb\n",
+ "gridsize = 10\n",
+ "\n",
+ "\n",
+ "##building a global map that consists of a long corridor, not used right now\n",
+ "#realglobalmap = corridor()\n",
+ "##using a custom made map, also not used\n",
+ "#realglobalmap = custom_map01()\n",
+ "#currently using the random map generator to generate an branching corridor map\n",
+ "realglobalmap = generate_random_map(maxcounter = 20)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#keeping track of robot position, robot position in cm not mm!\n",
+ "myxpos = 0\n",
+ "myypos = 0\n",
+ "myangle = 0"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# Settings for servo\n",
+ "servoMin = -1.0 # Smallest servo position to use\n",
+ "servoMax = +1.0 # Largest servo position to use\n",
+ "startupDelay = 0.5 # Delay before making the initial move\n",
+ "stepDelay = 0.1 # Delay between steps\n",
+ "rate = 0.05 # Step distance for all servos during initial move\n",
+ "sleeptime = 0.3\n",
+ "\n",
+ "#ultrasonic sonsor specifics\n",
+ "opening = (15/2) * (np.pi/180) #half of the full opening angle (in rad)\n",
+ "#number of total measurements\n",
+ "measnumber = 2*int((servoMax-servoMin)/rate)\n",
+ "overlap = int(opening/(2*np.pi/measnumber)+1)\n",
+ "#print(overlap)\n",
+ " \n",
+ "#local map specifications\n",
+ "localdim = 20 #localmapdim\n",
+ "gridsize = 100 #gridsize in mm\n",
+ "localsize = gridsize*localdim #resulting localsize in mm\n",
+ "\n",
+ "#returns matrix which\n",
+ "#assigns each gridposition to a measurement entry from 0 to measnumber-1\n",
+ "def assignmap():\n",
+ " assigner = []\n",
+ " for i in range(localdim):\n",
+ " assignerrow = []\n",
+ " for j in range(localdim):\n",
+ " assignerrow.append([])\n",
+ " assigner.append(assignerrow)\n",
+ " distances = np.zeros((localdim,localdim))\n",
+ " for i in range(localdim):\n",
+ " for j in range(localdim):\n",
+ " #coordinates, origin of the map at localdim/2\n",
+ " y = j+0.5 -localdim/2\n",
+ " x = i+0.5 -localdim/2\n",
+ " #assigning by calculating polar coordinates\n",
+ " #assign angle to correct sensor\n",
+ " #save distance for later use\n",
+ " angle = np.arctan2(y,x)\n",
+ " if angle < 0:\n",
+ " angle += 2*np.pi\n",
+ " assign_to = (int(angle*measnumber/(2*np.pi) +0.5))%measnumber\n",
+ " assigner[i][j].append(assign_to)\n",
+ " #distance grid to map-origin in mm\n",
+ " dist = np.sqrt(x**2+y**2) * gridsize\n",
+ " distances[i,j] = dist\n",
+ " \n",
+ " #check all near neigboring sensors in overlap range\n",
+ " for k in [l for l in range(assign_to-overlap,assign_to+overlap) if l!=assign_to]:\n",
+ " k_plus = k % measnumber\n",
+ " #sensor field of view between minus and plus angle, remember 2*np.pi periodicity\n",
+ " minus = 2*np.pi*k_plus/(measnumber)-opening\n",
+ " plus = 2*np.pi*k_plus/(measnumber)+opening\n",
+ " if angle > minus:\n",
+ " if angle < plus:\n",
+ " assigner[i][j].append(k_plus)\n",
+ " elif minus < 0:\n",
+ " if angle > minus + 2*np.pi:\n",
+ " assigner[i][j].append(k_plus)\n",
+ " elif plus > 2*np.pi:\n",
+ " assigner[i][j].append(k_plus)\n",
+ " elif plus > 2*np.pi:\n",
+ " if angle < plus - 2*np.pi:\n",
+ " assigner[i][j].append(k_plus)\n",
+ " \n",
+ " #add the two closest cells to the sensor as these might be omitted in the above calculation\n",
+ " for k in range(measnumber):\n",
+ " k_angle = 2*np.pi*k/(measnumber)\n",
+ " to_add1_i = int((1*math.cos(k_angle))/gridsize + localdim/2)\n",
+ " to_add1_j = int((1*math.sin(k_angle))/gridsize + localdim/2)\n",
+ " if k not in assigner[to_add1_i][to_add1_j]:\n",
+ " assigner[to_add1_i][to_add1_j].append(k)\n",
+ " to_add2_i = int((gridsize*math.cos(k_angle))/gridsize + localdim/2)\n",
+ " to_add2_j = int((gridsize*math.sin(k_angle))/gridsize + localdim/2)\n",
+ " if to_add2_i == to_add1_i and to_add1_j == to_add2_j:\n",
+ " to_add2_i = int((2*gridsize*math.cos(k_angle))/gridsize + localdim/2)\n",
+ " to_add2_j = int((2*gridsize*math.sin(k_angle))/gridsize + localdim/2)\n",
+ " if k not in assigner[to_add2_i][to_add2_j]:\n",
+ " assigner[to_add2_i][to_add2_j].append(k)\n",
+ " #print(assigner)\n",
+ " return assigner,distances\n",
+ "#assigner assign gridpos to sensorreading\n",
+ "assigner,distances = assignmap()\n",
+ "#print(measnumber)\n",
+ "#print(assigner[int(localdim/2)+1][int(localdim/2)])"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def simulate_measurements():\n",
+ " error = 1 #standard deviation for gaussian measurement error (in mm)\n",
+ " \n",
+ " N = measnumber\n",
+ " #list of all measurements\n",
+ " measurements = np.zeros(N) \n",
+ " #determine correct measurements values\n",
+ " for i in range(localdim):\n",
+ " for j in range(localdim):\n",
+ " local_x = (i+1/2)*gridsize - localdim*gridsize/2\n",
+ " local_y = (j+1/2)*gridsize - localdim*gridsize/2\n",
+ " #remember to convert cm position to mm!\n",
+ " globalmap_x = 10*myxpos + local_x * math.cos(myangle) - local_y * math.sin(myangle)\n",
+ " globalmap_y = 10*myypos + local_x * math.sin(myangle) + local_y * math.cos(myangle)\n",
+ " globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))\n",
+ " #print(globalgrid)\n",
+ " if globalgrid in realglobalmap:\n",
+ " for sensor in assigner[i][j]:\n",
+ " if measurements[sensor] == 0 or measurements[sensor] > distances[i][j]:\n",
+ " measurements[sensor] = distances[i][j]\n",
+ " #sample gaussian measurements around exact meas\n",
+ " for k in range(N):\n",
+ " if measurements[k] == 0:\n",
+ " measurements[k] = 4000\n",
+ " else:\n",
+ " measurements[k] = random.gauss(measurements[k],error)\n",
+ " \n",
+ " return measurements\n",
+ "\n",
+ "#print(simulate_measurements())"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 6,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def localmap(measurements):\n",
+ " #print(measurements)\n",
+ " #alpha is range in which cells are considered occupied (should be min gridsize/2)\n",
+ " alpha = gridsize/2\n",
+ " #occupied cells are adjusted by l_plus, unoccupied by l_minus\n",
+ " l_plus = 1\n",
+ " l_minus = 0.5\n",
+ " #cycle through each cell of the map and apply sensor data\n",
+ " map = np.zeros((localdim,localdim))\n",
+ " \n",
+ " for i in range(localdim):\n",
+ " for j in range(localdim):\n",
+ " for k in assigner[i][j]:\n",
+ " if distances[i][j] < measurements[k] - alpha:\n",
+ " #unoccupied measurement\n",
+ " map[i][j] -= l_minus\n",
+ " elif distances[i][j] < measurements[k] + alpha:\n",
+ " #occupied measurement\n",
+ " map[i][j] += l_plus\n",
+ " return map"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 7,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#building localmap by getting measures and converting to map\n",
+ "def build_localmap():\n",
+ " measures = simulate_measurements()\n",
+ " #print(measures)\n",
+ " map = localmap(measures)\n",
+ " return map"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def sample_motion(velocity, angular_velocity):\n",
+ " global myxpos,myypos,myangle\n",
+ " #sample motion for a velocity motion model\n",
+ " #delta_t needs to be normalized to 1!\n",
+ " #see probabilistic robotics page 124\n",
+ " \n",
+ "\n",
+ " #error parameters\n",
+ " alpha_1 = 0.0001 #influence of velocity on velocity uncertainty\n",
+ " alpha_2 = 0.00001 #influence of angular velocity on velocity uncertainty\n",
+ " alpha_3 = 0.000005 #influence of velocity on angular velocity uncertainty\n",
+ " alpha_4 = 0.00001 #influence of angular velocity on angular velocity uncertainty\n",
+ " #an additional angle will be added to account for non circular motion\n",
+ " alpha_5 = 0.000000001 #influence of velocity on additional angle uncertainty\n",
+ " alpha_6 = 0.000001 #influence of angular velocity on additional angle uncertainty\n",
+ "\n",
+ " #sample with gaussians\n",
+ " sample_vel = random.gauss(velocity, np.sqrt(alpha_1*velocity**2+alpha_2*angular_velocity**2))\n",
+ " sample_angvel = random.gauss(angular_velocity, np.sqrt(alpha_3*velocity**2 + alpha_4 * angular_velocity**2))\n",
+ " sample_addangle = random.gauss(0, np.sqrt(alpha_5*velocity**2+alpha_6*angular_velocity**2))\n",
+ "\n",
+ " if angular_velocity != 0 and abs(sample_angvel) >= 0.01:\n",
+ " #apply motion\n",
+ " myxpos += -sample_vel/sample_angvel*math.sin(myangle) + sample_vel/sample_angvel*math.sin(myangle+sample_angvel)\n",
+ " myypos += sample_vel/sample_angvel*math.cos(myangle) - sample_vel/sample_angvel*math.cos(myangle+sample_angvel)\n",
+ " myangle += sample_angvel+sample_addangle\n",
+ " else:\n",
+ " #motion for very small angular velocity, to avoid division by near 0 values\n",
+ " myxpos += sample_vel*math.cos(myangle)\n",
+ " myypos += sample_vel*math.sin(myangle)\n",
+ " myangle += sample_angvel+sample_addangle"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 9,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#moving all particles\n",
+ "#change is wheel1-,wheel2-voltage time from executed movement\n",
+ "def move_me(wheelleft,wheelright,delta_t=1):\n",
+ " wheeldist = 19.5 #distance between left/right wheel in cm\n",
+ " speed = wheeldist*np.pi/4 #distance a wheel at max voltage 1 rotates in one delta_t\n",
+ " \n",
+ " #mean speed:\n",
+ " mean_speed = delta_t*speed*(wheelright+wheelleft)/2\n",
+ " #angular velocity\n",
+ " alpha_speed = (wheelright-wheelleft)*delta_t*speed/wheeldist\n",
+ " sample_motion(mean_speed, alpha_speed)\n",
+ " #print(wheelleft,wheelright)\n",
+ " #print(myxpos,myypos,myangle)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 10,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def execute_movement(order):\n",
+ " #split the movement order\n",
+ " splitted = order.split('#')\n",
+ " wheelleft = float(splitted[1])\n",
+ " wheelright= float(splitted[2])\n",
+ " #and execute it using move_me\n",
+ " move_me(wheelleft,wheelright)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 11,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 12,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "##checking motion model\n",
+ "#myxpos,myypos,myangle = 0,0,0\n",
+ "#execute_movement('forward')\n",
+ "#print(myxpos,myypos)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 15,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
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+ "data": {
+ "image/png": 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bOtnHVuv6UCg4mUsvuyUi1vbB596PSto8a9suSU9HxGpJT2frveZRXXxdkvRg9n1bm43s7RtdHwoqNpkLOiwintHF/wO2dpKdxyR9sq2daoE619XXeiEUikzm0qtC0kHbz9ve2enOVGAoIs5KUva6rMP9aaV7bb+YPV703GPRpfRCKBSeqKUH3RwRH9X0o9FnbP9apzuEQh6S9GFJayWdlfRAZ7vTWr0QCkUmc+lJEXEmex2XtE/Tj0r9ZMz2NZKUvY53uD8tERFjEfFeRExJ+rL67PvWC6FQZDKXnmN7ke3FM8uSNkk6eul39ZzaSXZ2SPp2B/vSMjNBl/mU+uz7Vmo+hXaoN5lLh7vVCkOS9mWTW8+T9PWIeLKzXWqe7b2SNkhaantU0v2SviDpm7bvkvQ/6sG5Nepc1wbbazX9GHta0t0d62AFGOYMINELjw8A2ohQAJAgFAAkCAUACUIBQIJQAJAgFAAk/h9pSXs3TPlnwwAAAABJRU5ErkJggg==\n",
+ "text/plain": [
+ "<Figure size 432x288 with 1 Axes>"
+ ]
+ },
+ "metadata": {
+ "needs_background": "light"
+ },
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "##checking if localmap works\n",
+ "##remember pyplots imshow is rotated to how the maps are used for us(first index in y dir instead x)\n",
+ "#myxpos = 50\n",
+ "#myypos = 50\n",
+ "#myangle = 0\n",
+ "\n",
+ "\n",
+ "#localmappy = build_localmap()\n",
+ "#print(localmappy)\n",
+ "#import matplotlib.pyplot as plt\n",
+ "#plt.imshow(localmappy, interpolation='nearest', cmap=plt.cm.Greys,origin = 'lower')\n",
+ "#plt.show()\n",
+ "#print(localmappy[3][5])"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.8"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/Code/SimulatedRobotHost.ipynb b/Code/SimulatedRobotHost.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..aca9b18dffa57570ade01435a4ce541e249696ba
--- /dev/null
+++ b/Code/SimulatedRobotHost.ipynb
@@ -0,0 +1,171 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "import socket\n",
+ "import numpy as np\n",
+ "from io import StringIO\n",
+ "import struct\n",
+ "%run Simulate_Alldirrobot.ipynb"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#functions for sending and receiving messages\n",
+ "#each message is prefixed by an int lenght, used to receive the hole lenght of message afterwards\n",
+ "def send_msg(sock, msg):\n",
+ " # Prefix each message with a 4-byte length (network byte order)\n",
+ " msg = struct.pack('>I', len(msg)) + msg\n",
+ " sock.sendall(msg)\n",
+ "\n",
+ "def recv_msg(sock):\n",
+ " # Read message length and unpack it into an integer\n",
+ " raw_msglen = recvall(sock, 4)\n",
+ " if not raw_msglen:\n",
+ " return None\n",
+ " msglen = struct.unpack('>I', raw_msglen)[0]\n",
+ " # Read the message data\n",
+ " return recvall(sock, msglen)\n",
+ "\n",
+ "def recvall(sock, n):\n",
+ " # Helper function to recv n bytes or return None if EOF is hit\n",
+ " data = bytearray()\n",
+ " while len(data) < n:\n",
+ " packet = sock.recv(n - len(data))\n",
+ " if not packet:\n",
+ " return None\n",
+ " data.extend(packet)\n",
+ " return data"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def server():\n",
+ " #host with your own name on port\n",
+ " host = socket.gethostname() #get local machine name\n",
+ " port = 4244\n",
+ " print(\"hosting on: '\" + str(host) + \"' \\t port: \" + str(port))\n",
+ " \n",
+ " #do the hosting\n",
+ " s = socket.socket()\n",
+ " s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)\n",
+ " s.bind(('',port))\n",
+ " \n",
+ " #wait for connection\n",
+ " s.listen(1)\n",
+ " client_socket, adress = s.accept()\n",
+ " print(\"Connection from: \" + str(adress))\n",
+ " data='empty'\n",
+ " #until data = q do move/meas loop\n",
+ " while True:\n",
+ " data = recv_msg(client_socket).decode('utf-8')#reveive message\n",
+ " if not data or data == 'q': #received a disconnect message\n",
+ " print(\"Disconnecting\")\n",
+ " break\n",
+ " if data == \"reset\": #reset message\n",
+ " print(\"Resetting...\")\n",
+ " #reset positions\n",
+ " global myxpos\n",
+ " global myypos\n",
+ " global myangle\n",
+ " myxpos = 0\n",
+ " myypos = 0\n",
+ " myangle = 0\n",
+ " #generate a new random map\n",
+ " global realglobalmap\n",
+ " realglobalmap = generate_random_map(maxcounter = 20)#custom_map01()\n",
+ " #send im done resetting \n",
+ " send = 'done'\n",
+ " send_msg(client_socket,send.encode('utf-8'))\n",
+ " else: \n",
+ " #received a movement message -> execute it\n",
+ " execute_movement(data)\n",
+ " #simulate building of a localmap\n",
+ " localm = build_localmap()\n",
+ " #send localmap as message\n",
+ " send_localm = localm.tostring()\n",
+ " send_msg(client_socket,send_localm)\n",
+ " #end\n",
+ " client_socket.close()\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "hosting on: 'DESKTOP-P0PR3LK' \t port: 4244\n",
+ "Connection from: ('192.168.178.20', 61896)\n",
+ "Resetting...\n"
+ ]
+ },
+ {
+ "ename": "AttributeError",
+ "evalue": "'NoneType' object has no attribute 'decode'",
+ "output_type": "error",
+ "traceback": [
+ "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
+ "\u001b[1;31mAttributeError\u001b[0m Traceback (most recent call last)",
+ "\u001b[1;32m<ipython-input-4-9938d8172090>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mserver\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;31m#start server\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
+ "\u001b[1;32m<ipython-input-3-933ae119dc87>\u001b[0m in \u001b[0;36mserver\u001b[1;34m()\u001b[0m\n\u001b[0;32m 17\u001b[0m \u001b[1;31m#until data = q do move/meas loop\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 18\u001b[0m \u001b[1;32mwhile\u001b[0m \u001b[1;32mTrue\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 19\u001b[1;33m \u001b[0mdata\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mrecv_msg\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mclient_socket\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mdecode\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'utf-8'\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;31m#reveive message\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m 20\u001b[0m \u001b[1;32mif\u001b[0m \u001b[1;32mnot\u001b[0m \u001b[0mdata\u001b[0m \u001b[1;32mor\u001b[0m \u001b[0mdata\u001b[0m \u001b[1;33m==\u001b[0m \u001b[1;34m'q'\u001b[0m\u001b[1;33m:\u001b[0m \u001b[1;31m#received a disconnect message\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 21\u001b[0m \u001b[0mprint\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m\"Disconnecting\"\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
+ "\u001b[1;31mAttributeError\u001b[0m: 'NoneType' object has no attribute 'decode'"
+ ]
+ }
+ ],
+ "source": [
+ "server() #start server"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.8"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/Code/alldirexplorandmap2_autosave728_weights.h5 b/Code/alldirexplorandmap2_autosave728_weights.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8cf5d62fdaf675d6b6119dcfa453bd1c5c7122ca
Binary files /dev/null and b/Code/alldirexplorandmap2_autosave728_weights.h5 differ
diff --git a/Code/alldirparticlefilt.ipynb b/Code/alldirparticlefilt.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..98b6343a1652f0354d217e599abde183198bedd3
--- /dev/null
+++ b/Code/alldirparticlefilt.ipynb
@@ -0,0 +1,837 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#particle filter for a full vision robot"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "16\n"
+ ]
+ }
+ ],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#imports\n",
+ "import numpy as np\n",
+ "import math\n",
+ "import copy\n",
+ "import random\n",
+ "import time"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#some global parameters\n",
+ "gridsize = 10 #size of map grids\n",
+ "relocatecounter = 0 #how often relocated in a row\n",
+ "bestparticle = 0 #current particle with highest weight\n",
+ "errorcount = 0 #how often failed to execute actions (too high = abort)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#convert a map value into a simple 1 occupied or 0 not occupied\n",
+ "def mapconvert(value):\n",
+ " if value > 0:\n",
+ " return 1\n",
+ " else:\n",
+ " return 0"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "class particle:\n",
+ " def __init__(self,x,y,phi,pmap = {}, counter = 0, priorcells = None):\n",
+ " #initiate particle by pose and map copy\n",
+ " self.xpos = x\n",
+ " self.ypos = y\n",
+ " self.angle = phi\n",
+ " self.map = copy.deepcopy(pmap)\n",
+ " self.weight = 1 #starting weight is 1\n",
+ " #priorcells are a memory of path; copy it or add start cell\n",
+ " if priorcells == None:\n",
+ " self.priorcells = [(int(math.floor(self.xpos/gridsize)),int(math.floor(self.ypos/gridsize)))]\n",
+ " else:\n",
+ " self.priorcells = copy.deepcopy(priorcells)\n",
+ " self.counter = counter #counts motion, only every 10th cell will be added to priorcells\n",
+ " \n",
+ " def incorporate_localmap(self,localmap):\n",
+ " #incorporating given local map into the global map\n",
+ " \n",
+ " #extra unoccupied measurement for the cell the robot is currently at\n",
+ " current_cell = (int(math.floor(self.xpos/gridsize)),int(math.floor(self.ypos/gridsize)))\n",
+ " if current_cell not in self.map:\n",
+ " self.map[current_cell] = -1\n",
+ " else:\n",
+ " self.map[current_cell] -= 1\n",
+ " \n",
+ "\n",
+ " #loop over localmap\n",
+ " N = len(localmap)\n",
+ " for i in range(N):\n",
+ " for j in range(N):\n",
+ " #only use localmap entries that are actually measured (!=0)\n",
+ " if localmap[i][j] != 0:\n",
+ " #convert local i,j to global\n",
+ " local_x = (i+1/2)*gridsize - N*gridsize/2\n",
+ " local_y = (j+1/2)*gridsize - N*gridsize/2\n",
+ " globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)\n",
+ " globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)\n",
+ " globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))\n",
+ " #update global map, if cell never observed before create entry\n",
+ " if globalgrid in self.map:\n",
+ " self.map[globalgrid] += localmap[i][j]\n",
+ " else:\n",
+ " self.map[globalgrid] = localmap[i][j]\n",
+ " \n",
+ " return self.map\n",
+ " \n",
+ " def incorporate_localmap_withreward(self,localmap):\n",
+ " #the same function as before but also calculate a reward by counting newly observed cells\n",
+ " \n",
+ " #incorporating given local map into the global map\n",
+ " new_cells = 0 #count all cells that were observed for the first time as rewards\n",
+ " \n",
+ " #extra unoccupied measurement for the cell the robot is currently at\n",
+ " current_cell = (int(math.floor(self.xpos/gridsize)),int(math.floor(self.ypos/gridsize)))\n",
+ " if current_cell not in self.map:\n",
+ " self.map[current_cell] = -1\n",
+ " new_cells += 1 #newly observed cell = reward\n",
+ " else:\n",
+ " self.map[current_cell] -=1\n",
+ " \n",
+ " #loop over localmap\n",
+ " N = len(localmap)\n",
+ " for i in range(N):\n",
+ " for j in range(N):\n",
+ " #only use localmap entries that are actually measured (!=0)\n",
+ " if localmap[i][j] != 0:\n",
+ " #convert local i,j to global\n",
+ " local_x = (i+1/2)*gridsize - N*gridsize/2\n",
+ " local_y = (j+1/2)*gridsize - N*gridsize/2\n",
+ " globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)\n",
+ " globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)\n",
+ " globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))\n",
+ " #update global map, if cell never observed before create entry\n",
+ " if globalgrid in self.map:\n",
+ " self.map[globalgrid] += localmap[i][j]\n",
+ " else:\n",
+ " self.map[globalgrid] = localmap[i][j]\n",
+ " new_cells += 1 #newly observed cell = reward\n",
+ " \n",
+ " return new_cells #return number of newly observed cells as reward\n",
+ " \n",
+ " def map_weigh(self,localmap):\n",
+ " #calculate probability of localmap corresponding to global map at particle position \n",
+ " \n",
+ " #find overlapping cells calc m_bar\n",
+ " N = len(localmap)\n",
+ " overlap = []\n",
+ " m_bar = 0\n",
+ " for i in range(N):\n",
+ " for j in range(N):\n",
+ " #only use localmap entries that are actually measured (!=0)\n",
+ " if localmap[i][j] != 0:\n",
+ " local_x = (i+1/2)*gridsize - N*gridsize/2\n",
+ " local_y = (j+1/2)*gridsize - N*gridsize/2\n",
+ " globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)\n",
+ " globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)\n",
+ " globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))\n",
+ " if globalgrid in self.map:\n",
+ " m_bar += mapconvert(self.map[globalgrid]) + mapconvert(localmap[i][j]) \n",
+ " overlap.append(((i,j),globalgrid))\n",
+ " #calculate correlation between the two maps (only if there is an overlap)\n",
+ " if len(overlap) > 0:\n",
+ " m_bar = m_bar/(2*len(overlap)) \n",
+ "\n",
+ " sum_1 = 0\n",
+ " sum_2 = 0\n",
+ " sum_3 = 0\n",
+ " for ((i,j),(k,l)) in overlap:\n",
+ " sum_1 += (mapconvert(self.map[(k,l)])-m_bar)*(mapconvert(localmap[i][j])-m_bar)\n",
+ " sum_2 += (mapconvert(self.map[(k,l)])-m_bar)**2\n",
+ " sum_3 += (mapconvert(localmap[i][j])-m_bar)**2\n",
+ " correlation = sum_1/math.sqrt(sum_2*sum_3)\n",
+ " if self.weight != 1: #this is only a safety check, it should not be possible\n",
+ " print(\"Weight not 1 for some reason\")\n",
+ " #use max of correlation and 0.01\n",
+ " #not using max with 0 to avoid edge case of all particles losing their weight\n",
+ " self.weight *= max(0.01,correlation)\n",
+ " \n",
+ " return self.weight\n",
+ " \n",
+ " def sample_motion(self, velocity, angular_velocity):\n",
+ " #if self.counter is high enough add to history of previously visited cells\n",
+ " #save cell as priorcell every 10 steps\n",
+ " if self.counter == 10:\n",
+ " self.priorcells.append((int(math.floor(self.xpos/gridsize)),int(math.floor(self.ypos/gridsize))))\n",
+ " self.counter = 0\n",
+ " else:\n",
+ " self.counter += 1\n",
+ " \n",
+ " #sample motion for a velocity motion model\n",
+ " #delta_t needs to be normalized to 1!\n",
+ " #see probabilistic robotics page 124\n",
+ " \n",
+ " #error parameters\n",
+ " alpha_1 = 0.0001 #influence of velocity on velocity uncertainty\n",
+ " alpha_2 = 0.00001 #influence of angular velocity on velocity uncertainty\n",
+ " alpha_3 = 0.000005 #influence of velocity on angular velocity uncertainty\n",
+ " alpha_4 = 0.00001 #influence of angular velocity on angular velocity uncertainty\n",
+ " #an additional angle will be added to account for non circular motion\n",
+ " alpha_5 = 0.000000001 #influence of velocity on additional angle uncertainty\n",
+ " alpha_6 = 0.000001 #influence of angular velocity on additional angle uncertainty\n",
+ "\n",
+ " #sample with gaussians\n",
+ " sample_vel = random.gauss(velocity, np.sqrt(alpha_1*velocity**2+alpha_2*angular_velocity**2))\n",
+ " sample_angvel = random.gauss(angular_velocity, np.sqrt(alpha_3*velocity**2 + alpha_4 * angular_velocity**2))\n",
+ " sample_addangle = random.gauss(0, np.sqrt(alpha_5*velocity**2+alpha_6*angular_velocity**2))\n",
+ "\n",
+ " if abs(sample_angvel) >= 0.01:\n",
+ " #apply motion\n",
+ " self.xpos += -sample_vel/sample_angvel*math.sin(self.angle) + sample_vel/sample_angvel*math.sin(self.angle+sample_angvel)\n",
+ " self.ypos += sample_vel/sample_angvel*math.cos(self.angle) - sample_vel/sample_angvel*math.cos(self.angle+sample_angvel)\n",
+ " self.angle += sample_angvel+sample_addangle\n",
+ " else:\n",
+ " #motion for very small angular velocity, to avoid division by near 0 values\n",
+ " self.xpos += sample_vel*math.cos(self.angle)\n",
+ " self.ypos += sample_vel*math.sin(self.angle)\n",
+ " self.angle += sample_angvel+sample_addangle\n",
+ " \n",
+ " \n",
+ " return self.xpos,self.ypos,self.angle\n",
+ " \n",
+ " def nearest_unobserved(self):\n",
+ " #find nearest unobserved grid cell\n",
+ " #and return path to it\n",
+ " #used as an exploration algorithm\n",
+ " \n",
+ " #start cell, start path\n",
+ " selfgrid = (int(math.floor(self.xpos/gridsize)),int(math.floor(self.ypos/gridsize)))\n",
+ " paths = [[selfgrid]]\n",
+ " #done_cells are already considered cells to avoid going in circles\n",
+ " done_cells = [selfgrid]\n",
+ " \n",
+ " #search paths in a breadth-first search\n",
+ " while True:\n",
+ " #check if path has been observed in map, if yes search neighbours\n",
+ " if paths[0][-1] in self.map:\n",
+ " #only search neighbours if mapcell is unoccupied\n",
+ " if self.map[paths[0][-1]] < 0:\n",
+ " #to avoid wallhugging paths check for occupied neighbours, if present this path is not desirable\n",
+ " no_hugging = True\n",
+ " for (i,j) in [(-1,0),(1,0),(0,-1),(0,1)]:\n",
+ " next_cell = (paths[0][-1][0]+i,paths[0][-1][1]+j)\n",
+ " if next_cell in self.map:\n",
+ " if self.map[next_cell] > 0:\n",
+ " no_hugging = False\n",
+ " if no_hugging == True or paths[0][-1] == selfgrid:\n",
+ " #loop through neighbours\n",
+ " for (i,j) in [(-1,0),(1,0),(0,-1),(0,1)]:\n",
+ " next_cell = (paths[0][-1][0]+i,paths[0][-1][1]+j)\n",
+ " #add new path if next_cell is not in an observed path\n",
+ " if next_cell not in done_cells:\n",
+ " new_path = copy.copy(paths[0])\n",
+ " new_path.append(next_cell)\n",
+ " paths.append(new_path)\n",
+ " done_cells.append(next_cell)\n",
+ " #pop out considered paths\n",
+ " paths.pop(0)\n",
+ " else:\n",
+ " #found path\n",
+ " target_path = paths[0]\n",
+ " break\n",
+ " if len(paths) == 0:\n",
+ " #there is no path to an unobserved cell (everything is observed or robot is stuck)\n",
+ " target_path = []\n",
+ " break\n",
+ " \n",
+ " #left,right,forward,backward order list to follow target path \n",
+ " orders = []\n",
+ " #looking dir is 0 to 3 standing for right,up,left,down\n",
+ " looking_dir = int(((self.angle%(2*np.pi)) *2/np.pi)+0.5)%4\n",
+ " for i in range(1,len(target_path)-1): \n",
+ " change = (target_path[i][0] - target_path[i-1][0],target_path[i][1] - target_path[i-1][1])\n",
+ " #translate change into number 0 to 3 that tells you if you need to go right,up,left or down\n",
+ " ruld_change = int(-change[0] + 1 + change[1]*(change[1]-1))\n",
+ " if (ruld_change - looking_dir)%4 == 0:\n",
+ " orders.append(\"forward\")\n",
+ " else:\n",
+ " if (ruld_change - looking_dir)%4 == 1:\n",
+ " orders.append(\"left\")\n",
+ " orders.append(\"forward\")\n",
+ " looking_dir += 1\n",
+ " if (ruld_change - looking_dir)%4 == 2:\n",
+ " orders.append(\"backward\")\n",
+ " if (ruld_change - looking_dir)%4 == 3:\n",
+ " orders.append(\"right\")\n",
+ " orders.append(\"forward\")\n",
+ " looking_dir -= 1\n",
+ " \n",
+ " global errorcount\n",
+ " if len(orders) == 0:\n",
+ " #if there are no orders move backward once to get out of a stuck position\n",
+ " print(\"no orders in explore\")\n",
+ " orders.append(\"backward\")\n",
+ " errorcount += 1 #errorcount, abort if this gets to high\n",
+ " else:\n",
+ " errorcount = 0\n",
+ " return orders\n",
+ " \n",
+ " #old idea - doesnt work well, use not recommended\n",
+ " #def relocate(self, localmap):\n",
+ " # #relocate algorithm\n",
+ " # #find best known cell in vicinity\n",
+ " # #return path to it\n",
+ " # \n",
+ " # localsize = len(localmap)\n",
+ " # N = localsize \n",
+ " # \n",
+ " # k=0\n",
+ " # bestcell = ()\n",
+ " # bestcellvalue = 0\n",
+ " # while bestcellvalue == 0:\n",
+ " # for i in range(localsize):\n",
+ " # for j in [k,-1-k]:\n",
+ " # #convert local i,j to global\n",
+ " # #print(gridsize)\n",
+ " # local_x = (i+1/2)*gridsize - N*gridsize*0.5\n",
+ " # local_y = (j+1/2)*gridsize - N*gridsize*0.5\n",
+ " # globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)\n",
+ " # globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)\n",
+ " # globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))\n",
+ " # \n",
+ " # #update global map, if cell never observed before create entry\n",
+ " # if globalgrid in self.map and localmap[i][j] < 0:\n",
+ " # if self.map[globalgrid] < bestcellvalue:\n",
+ " # bestcell = (i,j)\n",
+ " # bestcellvalue = self.map[globalgrid] \n",
+ " # for i in [k,-1-k]:\n",
+ " # for j in range(localsize):\n",
+ " # #convert local i,j to global\n",
+ " # local_x = (i+1/2)*gridsize - N*gridsize/2\n",
+ " # local_y = (j+1/2)*gridsize - N*gridsize/2\n",
+ " # globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)\n",
+ " # globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)\n",
+ " # globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))\n",
+ " # \n",
+ " # #update global map, if cell never observed before create entry\n",
+ " # if globalgrid in self.map and localmap[i][j] < 0:\n",
+ " # if self.map[globalgrid] < bestcellvalue:\n",
+ " # bestcell = (i,j)\n",
+ " # bestcellvalue = self.map[globalgrid]\n",
+ " # print(bestcell,bestcellvalue)\n",
+ " # #building a movement cost map from bestcell to find path \n",
+ " # costmap = np.full((localsize,localsize),100)\n",
+ " # costmap[bestcell] = 0\n",
+ " # done = [bestcell]\n",
+ " # to_do = [bestcell]\n",
+ " # while len(to_do) > 0:\n",
+ " # for (i,j) in [(-1,0),(1,0),(0,1),(0,-1)]:\n",
+ " # if 0 <= to_do[0][0]+i < localsize and 0 <= to_do[0][1]+j < localsize:\n",
+ " # if (to_do[0][0]+i,to_do[0][1]+j) not in done:\n",
+ " # if localmap[(to_do[0][0]+i,to_do[0][1]+j)] < 0:\n",
+ " # costmap[to_do[0][0]+i,to_do[0][1]+j] = costmap[to_do[0][0],to_do[0][1]] + 1\n",
+ " # to_do.append((to_do[0][0]+i,to_do[0][1]+j))\n",
+ " # done.append((to_do[0][0]+i,to_do[0][1]+j))\n",
+ " # to_do.pop(0)\n",
+ " # print(costmap) \n",
+ " # \n",
+ " # #follow costmap to goal\n",
+ " # orders = []\n",
+ " # currentcell = (int(localsize/2),int(localsize/2))\n",
+ " # lookingdir = 0\n",
+ " # foundgoal = False\n",
+ " # \n",
+ " # waylist = [(1,0),(0,1),(-1,0),(0,-1)]\n",
+ " # while foundgoal == False:\n",
+ " # bestway = (currentcell[0]+waylist[lookingdir][0],currentcell[1]+waylist[lookingdir][1])\n",
+ " # bestwayvalue = costmap[bestway]\n",
+ " # movedir = lookingdir\n",
+ " # for i in range(len(waylist)):\n",
+ " # new_cell = (currentcell[0]+waylist[i][0],currentcell[1]+waylist[i][1])\n",
+ " # if costmap[new_cell] < bestwayvalue:\n",
+ " # bestway = new_cell\n",
+ " # bestwayvalue = costmap[new_cell]\n",
+ " # movedir = i\n",
+ " # currentcell = bestway\n",
+ " # if (movedir - lookingdir)%4 == 0:\n",
+ " # orders.append(\"forward\")\n",
+ " # else:\n",
+ " # if (movedir - lookingdir)%4 == 1:\n",
+ " # orders.append(\"left\")\n",
+ " # orders.append(\"forward\")\n",
+ " # lookingdir += 1\n",
+ " # if (movedir - lookingdir)%4 == 2:\n",
+ " # orders.append(\"backward\")\n",
+ " # if (movedir - lookingdir)%4 == 3:\n",
+ " # orders.append(\"right\")\n",
+ " # orders.append(\"forward\")\n",
+ " # lookingdir -= 1\n",
+ " # #print(bestwayvalue)\n",
+ " # if bestwayvalue == 0:\n",
+ " # foundgoal = True\n",
+ " # elif bestwayvalue == 100:\n",
+ " # print(\"No possible way\")\n",
+ " # foundgoal = True\n",
+ " # return orders\n",
+ " \n",
+ " def retrace(self,aim_for = 'none'):\n",
+ " #retrace algorithm\n",
+ " #find path to a cell seome time ago from the saved path of the particle\n",
+ " #standard is going to a cell 3*10= 30 steps earlier\n",
+ " #changes if cell not reachable or multiple relocates in a wor\n",
+ " global errorcount\n",
+ " global relocatecounter\n",
+ " relocatecorrection = 0 # correction of relocate counter if we dont take the full 3 relocate steps\n",
+ " given_aim_for = False #the cell to aim for may be given, in this case go there\n",
+ " #aim_for is a cell some steps earlier\n",
+ " if aim_for != 'none': #aimfor is given no need to find it\n",
+ " relocatecorrection = 3\n",
+ " given_aim_for = True\n",
+ " else:\n",
+ " #no aim for given, choose cell (2*relocatecounter+1)*3 earlier\n",
+ " if len(self.priorcells) > (2*relocatecounter+1)*3:\n",
+ " aim_for = self.priorcells[int(-(2*relocatecounter+1)*3 + 0.5)]\n",
+ " aim_for_index = int(-(2*relocatecounter+1)*3 + 0.5)\n",
+ " #not enough members in priorcell, go to first member\n",
+ " elif len(self.priorcells) > 0:\n",
+ " aim_for = self.priorcells[0]\n",
+ " aim_for_index = 0\n",
+ " #no members in priorcells, relocate does not make sense here\n",
+ " else:\n",
+ " return [\"Do_nothing\"], aim_for\n",
+ " \n",
+ " #starting cell and looking direction\n",
+ " start_cell = (int(math.floor(self.xpos/gridsize)),int(math.floor(self.ypos/gridsize)))\n",
+ " startlooking_dir = int(((self.angle%(2*np.pi)) *2/np.pi)+0.5)%4 #looking dir is 0 to 3 standing for right,up,left,down\n",
+ " \n",
+ " #find a path from currentcell to aim_for\n",
+ " #start cell, start path\n",
+ " selfgrid = start_cell\n",
+ " paths = [[selfgrid]]\n",
+ " #done_cells are already considered cells to avoid going in circles\n",
+ " done_cells = [selfgrid]\n",
+ " #translate lookingdir into change of coordinates resulting in forwardchange\n",
+ " waylist = [(1,0),(0,1),(-1,0),(0,-1)]\n",
+ " forwardchange = waylist[startlooking_dir]\n",
+ " #search paths in a breadth-first search\n",
+ " while True:\n",
+ " #check if path has been observed in map, if yes search neighbours\n",
+ " if paths[0][-1] in self.map:\n",
+ " if paths[0][-1] == aim_for:\n",
+ " #finished search if path is found\n",
+ " target_path = paths[0]\n",
+ " break\n",
+ " \n",
+ " #only search neighbours if mapcell is unoccupied\n",
+ " if self.map[paths[0][-1]] < 0:\n",
+ " #to avoid wallhugging paths check for occupied neighbours, if present this path is not desirable\n",
+ " no_hugging = True\n",
+ " for (i,j) in [(-1,0),(1,0),(0,-1),(0,1)]:\n",
+ " next_cell = (paths[0][-1][0]+i,paths[0][-1][1]+j)\n",
+ " if next_cell in self.map:\n",
+ " if self.map[next_cell] > 0:\n",
+ " no_hugging = False\n",
+ " if no_hugging == True or paths[0][-1] == selfgrid:\n",
+ " #loop through neighbours\n",
+ " #give priority to moving forward, to not find paths with more turns than necessary\n",
+ " if len(paths[0]) > 2:\n",
+ " forwardchange = (paths[0][-1][0] - paths[0][-2][0],paths[0][-1][1] - paths[0][-2][1])\n",
+ " ij_list = copy.deepcopy(waylist)\n",
+ " ij_list.remove(forwardchange)\n",
+ " ij_list.insert(0,forwardchange)\n",
+ " for (i,j) in ij_list:\n",
+ " next_cell = (paths[0][-1][0]+i,paths[0][-1][1]+j)\n",
+ " #add new path if next_cell is not in an observed path\n",
+ " if next_cell not in done_cells:\n",
+ " new_path = copy.copy(paths[0])\n",
+ " new_path.append(next_cell)\n",
+ " paths.append(new_path)\n",
+ " done_cells.append(next_cell)\n",
+ " #pop out considered paths\n",
+ " paths.pop(0)\n",
+ " else:\n",
+ " #cell is not in map - pop out path \n",
+ " #unless we arrived at an aim_for which is not in map (debugging - shouldn't happen often)\n",
+ " if paths[0][-1] == aim_for:\n",
+ " #finished search if path is found\n",
+ " target_path = paths[0]\n",
+ " break\n",
+ " else:\n",
+ " paths.pop(0)\n",
+ " if len(paths) == 0:\n",
+ " #there is no path to aim_for\n",
+ " #move backward to get out of a stuck position\n",
+ " target_path = None\n",
+ " if aim_for == selfgrid:\n",
+ " return [\"backward\"], aim_for\n",
+ " if given_aim_for == True:\n",
+ " #couldn't find a path to given aim_for\n",
+ " print(\"Couldn't correct path in mid of relocating\")\n",
+ " return [\"Do_nothing\"], aim_for\n",
+ " \n",
+ " #if one can not find a path try a shorter one before giving up\n",
+ " if aim_for_index > 6*relocatecounter:\n",
+ " #restart search with different aim_for\n",
+ " aim_for_index -= 1\n",
+ " aim_for = self.priorcells[aim_for_index]\n",
+ " selfgrid = start_cell\n",
+ " paths = [[selfgrid]]\n",
+ " done_cells = [selfgrid]\n",
+ " forwardchange = waylist[startlooking_dir]\n",
+ " \n",
+ " relocatecorrection += 1\n",
+ " else:\n",
+ " print(\"No path found in retrace!\")\n",
+ " target_path = []\n",
+ " break\n",
+ " \n",
+ " \n",
+ " #left,right,forward,backward order list to follow target path \n",
+ " orders = []\n",
+ " #looking dir is 0 to 3 standing for right,up,left,down\n",
+ " looking_dir = int(((self.angle%(2*np.pi)) *2/np.pi)+0.5)%4\n",
+ " for i in range(1,len(target_path)-1): \n",
+ " change = (target_path[i][0] - target_path[i-1][0],target_path[i][1] - target_path[i-1][1])\n",
+ " #translate change into number 0 to 3 that tells you if you need to go right,up,left or down\n",
+ " ruld_change = int(-change[0] + 1 + change[1]*(change[1]-1))\n",
+ " if (ruld_change - looking_dir)%4 == 0:\n",
+ " orders.append(\"forward\")\n",
+ " else:\n",
+ " if (ruld_change - looking_dir)%4 == 1:\n",
+ " orders.append(\"left\")\n",
+ " orders.append(\"forward\")\n",
+ " looking_dir += 1\n",
+ " if (ruld_change - looking_dir)%4 == 2:\n",
+ " orders.append(\"backward\")\n",
+ " if (ruld_change - looking_dir)%4 == 3:\n",
+ " orders.append(\"right\")\n",
+ " orders.append(\"forward\")\n",
+ " looking_dir -= 1\n",
+ " \n",
+ " if len(orders) == 0:\n",
+ " errorcount += 1\n",
+ " #if there are no orders move backward once to get out of a stuck position\n",
+ " orders.append(\"backward\")\n",
+ " else:\n",
+ " errorcount = 0\n",
+ " relocatecounter += 1-1/3*relocatecorrection\n",
+ " \n",
+ " return orders, aim_for"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 6,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Particle Filter functions\n",
+ "- Propagation\n",
+ "- Weighing\n",
+ "- Resampling"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 7,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#moving all particles\n",
+ "#change is wheel1-,wheel2-voltage time from executed movement\n",
+ "def move_particles(allparticles,wheelleft,wheelright,delta_t=1):\n",
+ " wheeldist = 19.5 #distance between left/right wheel in cm\n",
+ " speed = wheeldist*np.pi/4 #distance a wheel at voltage 1 rotates in one delta_t (speed is set so that turns are 90 degree)\n",
+ " \n",
+ " #mean speed:\n",
+ " mean_speed = delta_t*speed*(wheelright+wheelleft)/2\n",
+ " #angular velocity\n",
+ " alpha_speed = (wheelright-wheelleft)*delta_t*speed/wheeldist\n",
+ " #apply motions to all particles\n",
+ " for i in range(len(allparticles)):\n",
+ " allparticles[i].sample_motion(mean_speed, alpha_speed)\n",
+ "\n",
+ "#using localmap on particle by first weighing it and than incorporating it\n",
+ "def weigh_and_map_particles(allparticles,localmap):\n",
+ " #start by weighing and mapping the bestparticle\n",
+ " #remember reward here\n",
+ " global bestparticle\n",
+ " allparticles[bestparticle].map_weigh(localmap)\n",
+ " reward = allparticles[bestparticle].incorporate_localmap_withreward(localmap)\n",
+ " \n",
+ " #weigh all other particles and uptade their map\n",
+ " for i in [x for x in range(len(allparticles)) if x!=bestparticle]:\n",
+ " allparticles[i].map_weigh(localmap)\n",
+ " allparticles[i].incorporate_localmap(localmap)\n",
+ " \n",
+ " #lowering reward since only using new_cells leads to very high rewards\n",
+ " reward /= 10\n",
+ " return reward\n",
+ "\n",
+ "#resampling particles in accordance to their weights\n",
+ "def resampling(allparticles):\n",
+ " new_particles = []\n",
+ " #normalizing weight \n",
+ " normweight = 0\n",
+ " for i in range(len(allparticles)):\n",
+ " normweight += allparticles[i].weight\n",
+ " if normweight == 0:\n",
+ " #normweight is 0, this mean all particles have weight 0\n",
+ " global isdone\n",
+ " isdone = True\n",
+ " rewardchange = -10\n",
+ " print(\"lost confidence in position - abort\")\n",
+ " #if this happens often you migh consider adding some new random particles in an attempt to fix it\n",
+ " return rewardchange\n",
+ " \n",
+ " #the resample algorithm\n",
+ " global bestparticle\n",
+ " maxweight = 0\n",
+ " rand = 0\n",
+ " for i in range(len(allparticles)):\n",
+ " #draw random between 0,1\n",
+ " rand = random.random()\n",
+ " j = 0\n",
+ " sum_weights = allparticles[0].weight/normweight\n",
+ " #choose particle to draw\n",
+ " while rand>sum_weights:\n",
+ " j += 1\n",
+ " sum_weights += allparticles[j].weight/normweight\n",
+ " #add particle and check if is better then current best particle\n",
+ " new_particles.append(particle(allparticles[j].xpos,allparticles[j].ypos,allparticles[j].angle,allparticles[j].map,allparticles[j].counter,allparticles[j].priorcells))\n",
+ " if allparticles[j].weight > maxweight:\n",
+ " bestparticle = i\n",
+ " maxweight = allparticles[j].weight\n",
+ " #update the old particles to new ones\n",
+ " for i in range(len(allparticles)):\n",
+ " allparticles[i] = new_particles[i]\n",
+ " #returning a rewardchange, usually 0\n",
+ " return 0\n",
+ "\n",
+ "#calculating uncertainty\n",
+ "def calc_uncertainty(allparticles):\n",
+ " #simply calculating the standarddeviation\n",
+ " #in this case the uncertainty of x,y,phi is simply added together\n",
+ " #one might consider tracking them individually since phi uncertainty will be largly ignored this way\n",
+ " average = [0,0,0] #calc average first\n",
+ " for i in range(len(allparticles)):\n",
+ " average[0] += allparticles[i].xpos\n",
+ " average[1] += allparticles[i].ypos\n",
+ " average[2] += allparticles[i].angle\n",
+ " average = [x/len(allparticles) for x in average] \n",
+ " \n",
+ " variance = [0,0,0] #now calc variance\n",
+ " for i in range(len(allparticles)):\n",
+ " variance[0] += (allparticles[i].xpos-average[0])**2\n",
+ " variance[1] += (allparticles[i].ypos-average[1])**2\n",
+ " variance[2] += (allparticles[i].angle-average[2])**2\n",
+ " variance = [x/len(allparticles) for x in variance] \n",
+ " #transform variance to standard deviation and add all together\n",
+ " total_std_dev = np.sqrt(variance[0]) + np.sqrt(variance[1]) + np.sqrt(variance[2]) \n",
+ " \n",
+ " return total_std_dev\n",
+ " \n",
+ "#one particle filter step:\n",
+ "def particle_filter(allparticles,localmap,wheelleft,wheelright,delta_t=1):\n",
+ " #propagate\n",
+ " move_particles(allparticles,wheelleft,wheelright,delta_t)\n",
+ " #incorporate and map\n",
+ " reward = weigh_and_map_particles(allparticles,localmap)\n",
+ "\n",
+ " \n",
+ " #resample\n",
+ " rewchange = resampling(allparticles)\n",
+ " return reward+rewchange\n",
+ "\n",
+ "#plotting globalmap and particles\n",
+ "def draw_particles(allparticles,figure,axes):\n",
+ " axes.clear()\n",
+ " xposes = []\n",
+ " yposes = []\n",
+ " for i in range(len(allparticles)):\n",
+ " xposes.append(allparticles[i].xpos/gridsize)\n",
+ " yposes.append(allparticles[i].ypos/gridsize)\n",
+ " #plot particles \n",
+ " axes.plot(xposes,yposes,'.')\n",
+ " #plot 'best' map\n",
+ " globaldim = 150\n",
+ " globalmap = np.zeros((globaldim,globaldim)) #init map\n",
+ " globalorigin = -75 #lower left origin of map\n",
+ " #extract part of the bestparticles globalmap from dictionary\n",
+ " for i in range(globalorigin,globaldim+globalorigin):\n",
+ " for j in range(globalorigin,globaldim+globalorigin):\n",
+ " if (i,j) in allparticles[bestparticle].map:\n",
+ " globalmap[i-globalorigin][j-globalorigin] = allparticles[bestparticle].map[(i,j)]\n",
+ " #do the imshow and print bestparticles position \n",
+ " axes.imshow(globalmap.T, interpolation='nearest', cmap=Greys,origin = 'lower',extent = [globalorigin,globaldim+globalorigin,globalorigin,globaldim+globalorigin], vmin=-3, vmax=3)\n",
+ " print(bestparticle)\n",
+ " print(allparticles[bestparticle].xpos,allparticles[bestparticle].ypos,allparticles[bestparticle].angle)\n",
+ " \n",
+ " figure.canvas.draw()\n",
+ " figure.canvas.flush_events()\n",
+ " #time.sleep(0.1)\n",
+ " \n",
+ " \n",
+ "#plotting localmap\n",
+ "def draw_localmap(localmap,figure,axes):\n",
+ " #a simple imshow of the localmap on the figure\n",
+ " axes.clear()\n",
+ " axes.imshow(localmap.T, interpolation='nearest',cmap=Greys,origin = 'lower', vmin=-3, vmax=3)\n",
+ " figure.canvas.draw()\n",
+ " figure.canvas.flush_events()\n",
+ " time.sleep(0.1)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 9,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 10,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 11,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#this check if a particle is allowed to move in a direction\n",
+ "def movement_allowed(localmap,movementorder):\n",
+ " L = len(localmap) #needed to find center of localmap where robot resides\n",
+ " #check that cells before or behind robot are unoccupied to allow movement\n",
+ " if movementorder == \"forward\":\n",
+ " if localmap[int(L/2)][int(L/2)] < 0 and localmap[int(L/2)][int(L/2)-1] < 0 and localmap[int(L/2)+1][int(L/2)] < 0 and localmap[int(L/2)+1][int(L/2)-1] < 0:\n",
+ " return True #movement allowed\n",
+ " elif movementorder == \"backward\":\n",
+ " if localmap[int(L/2)-1][int(L/2)] < 0 and localmap[int(L/2)-1][int(L/2)-1] < 0 and localmap[int(L/2)-2][int(L/2)] < 0 and localmap[int(L/2)-2][int(L/2)-1] < 0:\n",
+ " return True #movement allowed\n",
+ " else:\n",
+ " return True #robot wants to turn, always allowed\n",
+ " return False #movement not allowed, there is an obstacle in the way"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "False True\n"
+ ]
+ }
+ ],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.8"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/Code/alldirparticlefilt.py b/Code/alldirparticlefilt.py
new file mode 100644
index 0000000000000000000000000000000000000000..be75817018dd56254ec2d9e123346397157202f4
--- /dev/null
+++ b/Code/alldirparticlefilt.py
@@ -0,0 +1,243 @@
+#!/usr/bin/env python
+# coding: utf-8
+
+# In[ ]:
+
+
+#new particle filter for full vision robot
+
+
+# In[ ]:
+
+
+
+
+
+# In[14]:
+
+
+import numpy as np
+import math
+import copy
+import random
+
+
+# In[15]:
+
+
+gridsize = 10
+
+
+# In[26]:
+
+
+class particle:
+ def __init__(self,x,y,phi,pmap = {}):
+ self.xpos = x
+ self.ypos = y
+ self.angle = phi
+ self.map = copy.deepcopy(pmap)
+ self.weight = 1
+
+ def incorporate_localmap(self,localmap):
+ #incorporating given local map into the global map
+
+ #loop over localmap
+ N = len(localmap)
+ for i in range(N):
+ for j in range(N):
+ #only use localmap entries that are actually measured (!=0)
+ if localmap[i][j] != 0:
+ #convert local i,j to global
+ local_x = (i+1/2)*gridsize - N*gridsize/2
+ local_y = (j+1/2)*gridsize - N*gridsize/2
+ globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)
+ globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)
+ globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))
+ #update global map, if cell never observed before create entry
+ if globalgrid in self.map:
+ self.map[globalgrid] += localmap[i][j]
+ else:
+ self.map[globalgrid] = localmap[i][j]
+
+ def map_weigh(self,localmap):
+ #calculate probability of localmap corresponding to global map at particle position
+
+ #find overlapping cells calc m_bar
+ N = len(localmap)
+ overlap = []
+ m_bar = 0
+ for i in range(N):
+ for j in range(N):
+ local_x = (i+1/2)*gridsize - N*gridsize/2
+ local_y = (j+1/2)*gridsize - N*gridsize/2
+ globalmap_x = self.xpos + local_x * math.cos(self.angle) - local_y * math.sin(self.angle)
+ globalmap_y = self.ypos + local_x * math.sin(self.angle) + local_y * math.cos(self.angle)
+ globalgrid = (int(math.floor(globalmap_x/gridsize)),int(math.floor(globalmap_y/gridsize)))
+ if globalgrid in self.map:
+ m_bar += self.map[globalgrid] + localmap[i][j]
+ overlap.append(((i,j),globalgrid))
+ #calculate correlation between the two maps (only if there is an overlap)
+ if len(overlap) > 0:
+ m_bar = m_bar/(2*len(overlap))
+
+ sum_1 = 0
+ sum_2 = 0
+ sum_3 = 0
+ for ((i,j),(k,l)) in overlap:
+ sum_1 += (self.map[(k,l)]-m_bar)*(localmap[i][j]-m_bar)
+ sum_2 += (self.map[(k,l)]-m_bar)**2
+ sum_3 += (localmap[i][j]-m_bar)**2
+ correlation = sum_1/math.sqrt(sum_2*sum_3)
+ self.weight *= max(0,correlation)
+
+ def sample_motion(self, velocity, angular_velocity):
+ #sample motion for a velocity motion model
+ #delta_t needs to be normalized to 1!
+ #see probabilistic robotics page 124
+
+ #mean values for displacement
+ delta_rot1 = math.atan2(new_mean[1]-self.ypos,new_mean[0]-self.xpos) - self.angle
+ delta_trans = np.sqrt(((self.xpos-new_mean[0])**2)+((self.ypos-new_mean[1])**2))
+ if delta_trans == 0:
+ delta_rot1 = 0
+ delta_rot2 = new_mean[2] - self.angle - delta_rot1
+ if delta_rot2 > PI:
+ delta_rot2 -= 2*PI
+ #error parameters
+ alpha_1 = 0.0001 #influence of velocity on velocity uncertainty
+ alpha_2 = 0.0001 #influence of angular velocity on velocity uncertainty
+ alpha_3 = 0.0001 #influence of velocity on angular velocity uncertainty
+ alpha_4 = 0.0001 #influence of angular velocity on angular velocity uncertainty
+ #an additional angle will be added to account for non circular motion
+ alpha_5 = 0.000001 #influence of velocity on additional angle uncertainty
+ alpha_6 = 0.000001 #influence of angular velocity on additional angle uncertainty
+
+ #sample with gaussians
+ sample_vel = random.gauss(velocity=locity, np.sqrt(alpha_1*velocity**2+alpha_2*angular_velocity**2))
+ sample_angvel = random.gauss(angular_velocity, np.sqrt(alpha_3*velocity**2 + alpha_4 * angular_velocity**2))
+ sample_addangle = random.gauss(0, np.sqrt(alpha_5*velocity**2+alpha_6*angular_velocity**2))
+
+ if angular_velocity != 0 and abs(sample_angvel) >= 0.01:
+ #apply motion
+ self.xpos += -sample_vel/sample_angvel*math.sin(self.angle) + sample_vel/sample_angvel*math.sin(self.angle*sample_angvel)
+ self.ypos += sample_vel/sample_angvel*math.cos(self.angle) - sample_vel/sample_angvel*math.cos(self.angle*sample_angvel)
+ self.angle += sample_angvel+sample_addangle
+ else:
+ #motion for very small angular velocity, to avoid division by near 0 values
+ self.xpos += sample_vel*math.cos(self.angle)
+ self.ypos += sample_vel*math.sin(self.angle)
+ self.angle += sample_angvel+sample_addangle
+
+
+# In[ ]:
+
+
+
+
+
+# ### Particle Filter functions
+# - Propagation
+# - Weighing
+# - Resampling
+
+# In[ ]:
+
+
+#moving all particles
+#change is wheel1-,wheel2-voltage time from executed movement
+def move_particles(allparticles,wheelleft,wheelright,delta_t=1):
+ wheeldist = 18 #distance between left/right wheel in cm
+ speed = 10 #distance a wheel at max voltage 1 rotates in one delta_t
+
+ #mean speed:
+ mean_speed = delta_t*speed*(wheelright+wheelleft)/2
+ #angular velocity
+ alpha_speed = (wheelright-wheelleft)*delta_t*speed/wheeldist
+ for i in range(len(allparticles)):
+ allparticles[i].sample_motion(mean_speed, alpha_speed)
+
+#using localmap on particle by first weighing it and than incorporating it
+def weigh_and_map_particles(allparticles,localmap):
+ for i in range(len(allparticles)):
+ allparticles[i].map_weigh(localmap)
+ allparticles[i].incorporate_localmap(localmap)
+
+#resampling particles in accordance to their weights
+def resampling(allparticles):
+ new_particles = []
+ #normalizing weight
+ normweight = 0
+ for i in range(len(allparticles)):
+ normweight += allparticles[i]
+
+ rand = 0
+ for i in range(len(allparticles)):
+ #draw random between 0,1
+ rand = random.random()
+ j = 0
+ sum_weights = allparticles[0].weight/normweight
+ while rand>sum_weights:
+ j += 1
+ sum_weights += allparticles[j].weight/normweight
+ new_particles.append(particle(allparticles[j].xpos,allparticles[j].ypos,allparticles[j].angle,allparticles[j].map)))
+
+
+ return new_particles
+
+#one particle filter step:
+def particle_filter(allparticles,localmap,wheelleft,wheelright,delta_t=1):
+ #propagate
+ move_particles(allparticles,wheelleft,wheelright,delta_t)
+ #incorporate and map
+ weigh_and_map_particles(allparticles,localmap)
+ #esampled
+ newparticles = resampling(allparticles)
+ return newparticles
+
+
+# In[ ]:
+
+
+
+
+
+# In[27]:
+
+
+#a = particle(0,0,0)
+#localmap = np.ones((10,10))
+
+
+# In[28]:
+
+
+#a.incorporate_localmap(localmap)
+#print(a.map)
+
+
+# In[7]:
+
+
+#a = []
+#a.append([(0,0),(1,1)])
+#
+#a.append([(0,0),(1,2)])
+#
+#a.append([(0,0),(4,1)])
+#print(a)
+#for ((i,j),(k,l)) in a:
+# print(i,j,k,l)
+
+
+# In[3]:
+
+
+
+
+
+# In[ ]:
+
+
+
+
diff --git a/Code/maps.ipynb b/Code/maps.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..a498826aba46fc840f64ab17a41e9d8d80670167
--- /dev/null
+++ b/Code/maps.ipynb
@@ -0,0 +1,551 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def box():\n",
+ " #a simple quadratic box\n",
+ " realglobalmap = {}\n",
+ " for i in range(1,39):\n",
+ " realglobalmap[(2,i)] = 1\n",
+ " realglobalmap[(1,i)] = 1\n",
+ " realglobalmap[(40-3,i)] = 1\n",
+ " realglobalmap[(40-2,i)] = 1\n",
+ " realglobalmap[(i,2)] = 1\n",
+ " realglobalmap[(i,1)] = 1\n",
+ " realglobalmap[(i,40-3)] = 1\n",
+ " realglobalmap[(i,40-2)] = 1\n",
+ " \n",
+ " return realglobalmap"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 25,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "Using matplotlib backend: Qt5Agg\n"
+ ]
+ }
+ ],
+ "source": [
+ "def corridor():\n",
+ " #long corridor map\n",
+ " realglobalmap = {}\n",
+ " for j in range(-40,40):\n",
+ " realglobalmap[(j,7)] = 1\n",
+ " realglobalmap[(j,-7)] = 1\n",
+ " for k in range(-7,7):\n",
+ " realglobalmap[(-40,k)] = 1\n",
+ " realglobalmap[(40,k)] = 1\n",
+ " return realglobalmap"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def custom_map01():\n",
+ " #some custom map\n",
+ " realglobalmap = {}\n",
+ " for i in range(-7,50):\n",
+ " realglobalmap[(-7,i)] = 1\n",
+ " realglobalmap[(49,i)] = 1\n",
+ " realglobalmap[(i,-7)] = 1\n",
+ " realglobalmap[(i,49)] = 1\n",
+ " for k in range(-7,36):\n",
+ " realglobalmap[(k,7)] = 1\n",
+ " for k in range(20,36):\n",
+ " realglobalmap[(20,k)] = 1\n",
+ " for k in range(10,36):\n",
+ " realglobalmap[(k,35)] = 1\n",
+ " realglobalmap[(k,20)] = 1\n",
+ " return realglobalmap"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Random Map Generator\n",
+ "using several map blocks (size 15x15) to build a random map\n",
+ "\n",
+ "used blocks are:\n",
+ "* straight\n",
+ "* curves\n",
+ "* 4way intersection\n",
+ "* 3way intersection\n",
+ "* dead end"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 85,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "blocksize = 15 #size of a block must be uneven! to ensure a center attachment grid"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 135,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#function attaches a blocksize block to the globalmap given attachment_grid, direction\n",
+ "#negative directions (such as left and down) are mirrored so that this cases do not need to be considered when building the blocks\n",
+ "def attach_block(attachment_grid, direction, globalmap, block, block_attachments):\n",
+ " if direction == 0: #attach to the right (positive x-dir)\n",
+ " for i in range(blocksize):\n",
+ " for j in range(blocksize):\n",
+ " if block[i][j] == 1: #globalmap shall only store walls i.e. ones\n",
+ " globalmap[(i+attachment_grid[0],j+attachment_grid[1]-int(blocksize/2))] = block[i][j]\n",
+ " #converting block attachments\n",
+ " for k in range(len(block_attachments)):\n",
+ " block_attachments[k][0] = (block_attachments[k][0][0]+attachment_grid[0],block_attachments[k][0][1]+attachment_grid[1]-int(blocksize/2))\n",
+ " elif direction == 2: #attach to the left (negative x-dir), this also mirrors x-axis\n",
+ " for i in range(blocksize):\n",
+ " for j in range(blocksize): \n",
+ " if block[i][j] == 1: #globalmap shall only store walls i.e. ones\n",
+ " globalmap[(-i+attachment_grid[0],j+attachment_grid[1]-int(blocksize/2))] = block[i][j]\n",
+ " #converting block attachments\n",
+ " for k in range(len(block_attachments)):\n",
+ " block_attachments[k][0] = (-block_attachments[k][0][0]+attachment_grid[0],block_attachments[k][0][1]+attachment_grid[1]-int(blocksize/2))\n",
+ " #convert attachments to the right to left ones due to mirroring\n",
+ " if block_attachments[k][1] == 0:\n",
+ " block_attachments[k][1] = 2\n",
+ " elif direction == 1: #attach to above (positive y-dir)\n",
+ " for i in range(blocksize):\n",
+ " for j in range(blocksize):\n",
+ " if block[i][j] == 1: #globalmap shall only store walls i.e. ones\n",
+ " globalmap[(i+attachment_grid[0]-int(blocksize/2),j+attachment_grid[1])] = block[i][j]\n",
+ " #converting block attachments\n",
+ " for k in range(len(block_attachments)):\n",
+ " block_attachments[k][0] = (block_attachments[k][0][0]+attachment_grid[0]-int(blocksize/2),block_attachments[k][0][1]+attachment_grid[1])\n",
+ " \n",
+ " elif direction == 3: #attach to below (negative y-dir), this also mirrors y-axis\n",
+ " for i in range(blocksize):\n",
+ " for j in range(blocksize):\n",
+ " if block[i][j] == 1: #globalmap shall only store walls i.e. ones\n",
+ " globalmap[(i+attachment_grid[0]-int(blocksize/2),-j+attachment_grid[1])] = block[i][j]\n",
+ " #converting block attachments\n",
+ " for k in range(len(block_attachments)):\n",
+ " block_attachments[k][0] = (block_attachments[k][0][0]+attachment_grid[0]-int(blocksize/2),-block_attachments[k][0][1]+attachment_grid[1])\n",
+ " #convert attachments to the top to bottom ones due to mirroring\n",
+ " if block_attachments[k][1] == 1:\n",
+ " block_attachments[k][1] = 3"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 87,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#returns a 15x15 map block consisting of a straight corridor in direction right,up,left,down = 0,1,2,3\n",
+ "def straight_block(attachment_grid, direction, globalmap):\n",
+ " #define block\n",
+ " block = np.ones([blocksize,blocksize])\n",
+ " block_attachments = [] #block attachments are the places where new blocks may be added later\n",
+ " #corridor direction left to right and vice versa \n",
+ " if direction == 0 or direction == 2:\n",
+ " for i in range(blocksize):\n",
+ " for j in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " #add block attachments\n",
+ " #you only need attachment on the right since attach_block mirrors\n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),0])\n",
+ " #corridor direction up to down and vice versa \n",
+ " else:\n",
+ " for j in range(blocksize):\n",
+ " for i in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " #add block attachments\n",
+ " #you only need attachment on the top since attach_block mirrors\n",
+ " block_attachments.append([(int(blocksize/2),blocksize),1])\n",
+ " #attach block to map\n",
+ " attach_block(attachment_grid, direction, globalmap, block, block_attachments)\n",
+ " #return new attachment positions\n",
+ " return block_attachments"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 88,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#a curve\n",
+ "def curved_block(attachment_grid, startdirection, enddirection, globalmap):\n",
+ " #check if this even is a curve and not a straight corridor\n",
+ " if (startdirection-enddirection)%2 == 0:\n",
+ " print(\"Error in Map generating - this is not a curve\")\n",
+ " return\n",
+ " \n",
+ " block = np.ones([blocksize,blocksize]) #define block\n",
+ " block_attachments = [] #block attachments are the places where new blocks may be added later\n",
+ " \n",
+ " #starting left or right uses the same block since attach_block() is also mirroring based on attachdirection\n",
+ " if startdirection == 0 or startdirection == 2:\n",
+ " for i in range(int(blocksize/2)+4): #corridor until middle of cell\n",
+ " for j in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0\n",
+ " \n",
+ " if enddirection == 1: #second corridor going up\n",
+ " for j in range(int(blocksize/2)-3,blocksize):\n",
+ " for i in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0 \n",
+ " block_attachments.append([(int(blocksize/2),15),enddirection]) #attachment on the top\n",
+ " if enddirection == 3: #second corridor going down\n",
+ " for j in range(int(blocksize/2)+4):\n",
+ " for i in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0\n",
+ " block_attachments.append([(int(blocksize/2),-1),enddirection]) #attachment on the bottom\n",
+ " #starting up or down uses the same block since attach_block() is also mirroring based on attachdirection\n",
+ " elif startdirection == 1 or startdirection == 3:\n",
+ " for j in range(int(blocksize/2)+4): #corridor until middle of cell\n",
+ " for i in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0\n",
+ " if enddirection == 2: #second corridor going left\n",
+ " for i in range(int(blocksize/2)+4):\n",
+ " for j in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0 \n",
+ " block_attachments.append([(-1,int(blocksize/2)),enddirection]) #attachment on the left\n",
+ " if enddirection == 0: #second corridor going right\n",
+ " for i in range(int(blocksize/2)-3,blocksize):\n",
+ " for j in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0 \n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),enddirection]) #attachment on the right\n",
+ " \n",
+ " attach_block(attachment_grid, startdirection, globalmap, block, block_attachments)\n",
+ " #return new attachment positions\n",
+ " return block_attachments"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 89,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# a simple 4way intersection open in all directions\n",
+ "def intersection_4way(attachment_grid, direction, globalmap):\n",
+ " block = np.ones([blocksize,blocksize]) #define block\n",
+ " block_attachments = [] #block attachments are the places where new blocks may be added later\n",
+ " \n",
+ " #for simplicities sake we are simply overlapping two corridors from left to right and top to bottom\n",
+ " for i in range(blocksize):\n",
+ " for j in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " \n",
+ " for j in range(blocksize):\n",
+ " for i in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " \n",
+ " if direction == 1 or direction == 3: #starting in top or bottom\n",
+ " block_attachments.append([(-1,int(blocksize/2)),2]) #left\n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),0]) #right\n",
+ " block_attachments.append([(int(blocksize/2),blocksize),1]) #top this is automatically mirrored to bottom in case of direction == 2\n",
+ " elif direction == 0 or direction == 2: #starting in right or left\n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),0]) #right automatically mirrored to left if direction == 2\n",
+ " block_attachments.append([(int(blocksize/2),blocksize),1]) #top\n",
+ " block_attachments.append([(int(blocksize/2),-1),3]) #bottom\n",
+ " \n",
+ " attach_block(attachment_grid, direction, globalmap, block, block_attachments)\n",
+ " return block_attachments"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 90,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#a 3way intersection open in all but one directions\n",
+ "#in contrast to the curve this becomes more complex due to mirroring\n",
+ "def intersection_3way(attachment_grid, direction, omitted_direction,globalmap):\n",
+ " #you can't omit the direction you are starting at\n",
+ " if omitted_direction == (direction-2)%4 or omitted_direction == (direction+2)%4:\n",
+ " print(\"Error in Map generating - 3way intersection is trying to omit starting direction\")\n",
+ " return\n",
+ " \n",
+ " block = np.ones([blocksize,blocksize]) #define block\n",
+ " block_attachments = [] #block attachments are the places where new blocks may be added later\n",
+ " if direction == 0 or direction == 2: #start right/left\n",
+ " if omitted_direction == 1 or omitted_direction == 3: #omit up/down\n",
+ " #left-right corridor\n",
+ " for i in range(blocksize):\n",
+ " for j in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),0]) #attachment right, will be mirrored if direction==2\n",
+ " \n",
+ " if omitted_direction == 1: #omit up\n",
+ " #half corridor to bottom\n",
+ " for j in range(int(blocksize/2)+4):\n",
+ " for i in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0\n",
+ " block_attachments.append([(int(blocksize/2),-1),3]) #attachment on the bottom\n",
+ " if omitted_direction == 3: #omit down\n",
+ " #half corridor to top\n",
+ " for j in range(int(blocksize/2)-3,blocksize):\n",
+ " for i in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0 \n",
+ " block_attachments.append([(int(blocksize/2),15),1]) #attachment on the top\n",
+ " \n",
+ " else: #you only need to consider corridor to right omitting right, other case is mirrored\n",
+ " #full corridor top-bottom\n",
+ " for j in range(blocksize):\n",
+ " for i in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " block_attachments.append([(int(blocksize/2),blocksize),1]) #attachment top\n",
+ " block_attachments.append([(int(blocksize/2),-1),3]) #attachment bottom\n",
+ " \n",
+ " #half corridor from the left\n",
+ " for i in range(int(blocksize/2)+4): #corridor until middle of cell\n",
+ " for j in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0\n",
+ " if direction == 1 or direction == 3: #start top/bottom\n",
+ " if omitted_direction == 0 or omitted_direction == 2: #omit right/left\n",
+ " #full corridor top-bottom\n",
+ " for j in range(blocksize):\n",
+ " for i in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " block_attachments.append([(int(blocksize/2),blocksize),1]) #attachment top, mirrored in case direction==3\n",
+ " \n",
+ " if omitted_direction == 0: #omit right\n",
+ " #half corridor to the left\n",
+ " for i in range(int(blocksize/2)+4):\n",
+ " for j in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0 \n",
+ " block_attachments.append([(-1,int(blocksize/2)),2]) #attachment on the left\n",
+ " if omitted_direction == 2: #omit left\n",
+ " #half corridor to the right\n",
+ " for i in range(int(blocksize/2)-3,blocksize):\n",
+ " for j in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0 \n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),0]) #attachment on the right\n",
+ " \n",
+ " else: #you only need to consider corridor to top omitting top, other case is mirrored\n",
+ " #full corridor left-right\n",
+ " for i in range(blocksize):\n",
+ " for j in range(int(blocksize/2-3),int(blocksize/2+4)):\n",
+ " block[i][j] = 0\n",
+ " block_attachments.append([(-1,int(blocksize/2)),2]) #attachment left\n",
+ " block_attachments.append([(blocksize,int(blocksize/2)),0]) #attachment right\n",
+ " #half corridor from the bottom\n",
+ " for j in range(int(blocksize/2)+4): #corridor until middle of cell\n",
+ " for i in range(int(blocksize/2)-3,int(blocksize/2)+4):\n",
+ " block[i][j] = 0\n",
+ " \n",
+ " attach_block(attachment_grid, direction, globalmap, block, block_attachments)\n",
+ " return block_attachments"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 145,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#completely occupied block, a solid dead end\n",
+ "def dead_end(attachment_grid, direction, globalmap):\n",
+ " block = np.ones([blocksize,blocksize])\n",
+ " block_attachments = []\n",
+ " attach_block(attachment_grid, direction, globalmap, block, block_attachments)\n",
+ " \n",
+ " return block_attachments"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 146,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def generate_random_map(maxcounter = 20):\n",
+ " realmap = {}\n",
+ " attachments = [[(0,0),0],[(-1,0),2]]\n",
+ " \n",
+ " counter = 0\n",
+ " more = True\n",
+ " while more == True:\n",
+ " counter += 1\n",
+ " \n",
+ " blockchoice = random.randint(0,3) #random decision what block to add\n",
+ " #print(blockchoice)\n",
+ " if blockchoice == 0: #straight corridor\n",
+ " new_attachments = straight_block(attachments[0][0],attachments[0][1],realmap)\n",
+ " if blockchoice == 1: #curve\n",
+ " curvechange = 2*random.randint(0,1) + 1 #choose curve dir\n",
+ " new_attachments = curved_block(attachments[0][0],attachments[0][1],(attachments[0][1]+curvechange)%4,realmap)\n",
+ " if blockchoice == 2: #4way intersection\n",
+ " new_attachments = intersection_4way(attachments[0][0],attachments[0][1],realmap)\n",
+ " if blockchoice == 3: #3way intersection\n",
+ " omit = ((random.randint(3,5)) + attachments[0][1])%4 #choose omitted dir\n",
+ " new_attachments = intersection_3way(attachments[0][0],attachments[0][1],omit,realmap)\n",
+ " #print(new_attachments)\n",
+ " attachments.pop(0)\n",
+ " #print(attachments)\n",
+ " #add new attachments to attachments\n",
+ " for k in range(len(new_attachments)):\n",
+ " #for each new attachment check if the corresponding counter attachment already exists\n",
+ " #if yes - you have completed a loop remove the counter from attachments, don't add new attachment\n",
+ " #if no - check if there is a wall at the attachment position, if not you can add the new attachment\n",
+ " if new_attachments[k][1] == 0:\n",
+ " if [(new_attachments[k][0][0]-1,new_attachments[k][0][1]),2] not in attachments: #counter attachment?\n",
+ " if (new_attachments[k][0][0],new_attachments[k][0][1]) not in realmap: #wall in map?\n",
+ " attachments.append(new_attachments[k])\n",
+ " else:\n",
+ " attachments.remove([(new_attachments[k][0][0]-1,new_attachments[k][0][1]),2]) #remove counter \n",
+ " if new_attachments[k][1] == 1:\n",
+ " if [(new_attachments[k][0][0],new_attachments[k][0][1]-1),3] not in attachments: #counter attachment?\n",
+ " if (new_attachments[k][0][0],new_attachments[k][0][1]) not in realmap: #wall in map?\n",
+ " attachments.append(new_attachments[k])\n",
+ " else:\n",
+ " attachments.remove([(new_attachments[k][0][0],new_attachments[k][0][1]-1),3]) #remove counter \n",
+ " if new_attachments[k][1] == 2:\n",
+ " if [(new_attachments[k][0][0]+1,new_attachments[k][0][1]),0] not in attachments: #counter attachment?\n",
+ " if (new_attachments[k][0][0],new_attachments[k][0][1]) not in realmap: #wall in map?\n",
+ " attachments.append(new_attachments[k])\n",
+ " else:\n",
+ " attachments.remove([(new_attachments[k][0][0]+1,new_attachments[k][0][1]),0]) #remove counter \n",
+ " if new_attachments[k][1] == 3:\n",
+ " if [(new_attachments[k][0][0],new_attachments[k][0][1]+1),1] not in attachments: #counter attachment?\n",
+ " if (new_attachments[k][0][0],new_attachments[k][0][1]) not in realmap: #wall in map?\n",
+ " attachments.append(new_attachments[k])\n",
+ " else:\n",
+ " attachments.remove([(new_attachments[k][0][0],new_attachments[k][0][1]+1),1]) #remove counter \n",
+ " \n",
+ " #check the attachments, some may now be blocked off, if so remove \n",
+ " to_pop = []\n",
+ " for k in range(len(attachments)):\n",
+ " if (attachments[k][0][0],attachments[k][0][1]) in realmap: #check if attachment path is blocked\n",
+ " to_pop.append(k)\n",
+ " for k in range(len(to_pop)):\n",
+ " attachments.pop(to_pop[k])\n",
+ " \n",
+ " if len(attachments) == 0 or counter >= maxcounter:\n",
+ " more = False\n",
+ " #fill open end with dead ends\n",
+ " for i in range(len(attachments)):\n",
+ " new_attachments = dead_end(attachments[i][0],attachments[i][1],realmap)\n",
+ " \n",
+ " return realmap"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "import random\n",
+ "realglobalmap = generate_random_map(maxcounter = 20)\n",
+ "#print()\n",
+ "#print(realglobalmap)\n",
+ "L = 100\n",
+ "test = np.zeros([L,L])\n",
+ "for i in range(L):\n",
+ " for j in range(L):\n",
+ " if (i-int(L/2),j-int(L/2)) in realglobalmap:\n",
+ " test[i][j] = realglobalmap[(i-int(L/2),j-int(L/2))]\n",
+ "from matplotlib import pyplot as plt\n",
+ "plt.imshow(test.T,origin = 'lower',extent=[-int(L/2),int(L/2),-int(L/2),int(L/2)])"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 138,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
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+ <use style="stroke:#000000;" x="629.274596" xlink:href="#m5fb0882079" y="536.388993"/>
+ </g>
+ </g>
+ <g id="line2d_58">
+ <path clip-path="url(#pab0c3ad644)" d="M 463.473711 634.294369
+L 632.14262 542.150124
+" style="fill:none;stroke:#000000;stroke-linecap:square;stroke-width:0.5;"/>
+ </g>
+ <g id="patch_28">
+ <path d="M 430.06616 667.70192
+L 430.06616 400.441512
+" style="fill:none;stroke:#000000;stroke-linecap:square;stroke-linejoin:miter;stroke-width:0.8;"/>
+ </g>
+ <g id="patch_29">
+ <path d="M 697.326568 667.70192
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+ </g>
+ <g id="patch_30">
+ <path d="M 430.06616 667.70192
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+ </g>
+ <g id="patch_31">
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+" style="fill:none;stroke:#000000;stroke-linecap:square;stroke-linejoin:miter;stroke-width:0.8;"/>
+ </g>
+ <g id="text_64">
+ <!-- Odometry Motion Model -->
+ <g transform="translate(469.731957 376.972924)scale(0.156 -0.156)">
+ <use xlink:href="#DejaVuSans-79"/>
+ <use x="78.710938" xlink:href="#DejaVuSans-100"/>
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+ <use x="1115.332031" xlink:href="#DejaVuSans-101"/>
+ <use x="1176.855469" xlink:href="#DejaVuSans-108"/>
+ </g>
+ <!-- high rotatory uncertainty -->
+ <g transform="translate(462.98252 394.441512)scale(0.156 -0.156)">
+ <use xlink:href="#DejaVuSans-32"/>
+ <use x="31.787109" xlink:href="#DejaVuSans-104"/>
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+ <use x="1232.048828" xlink:href="#DejaVuSans-121"/>
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+ </g>
+ </g>
+ </g>
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+ </clipPath>
+ <clipPath id="pab0c3ad644">
+ <rect height="267.260408" width="267.260408" x="430.06616" y="400.441512"/>
+ </clipPath>
+ </defs>
+</svg>
diff --git a/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.ggb b/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.ggb
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diff --git a/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.png b/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.png
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diff --git a/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.txt b/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eff1b2bc3ca7d3906f784c93fbd78a156b33d611
--- /dev/null
+++ b/latex_and_figures/figs/ch_robotmodel/odo_motion_model_geo.txt
@@ -0,0 +1,33 @@
+\documentclass[10pt]{article}
+\usepackage{pgfplots}
+\pgfplotsset{compat=1.15}
+\usepackage{mathrsfs}
+\usetikzlibrary{arrows}
+\pagestyle{empty}
+\begin{document}
+\definecolor{qqwuqq}{rgb}{0,0.39215686274509803,0}
+\definecolor{qqqqff}{rgb}{0,0,1}
+\definecolor{ududff}{rgb}{0.30196078431372547,0.30196078431372547,1}
+\definecolor{cqcqcq}{rgb}{0.7529411764705882,0.7529411764705882,0.7529411764705882}
+\begin{tikzpicture}[line cap=round,line join=round,>=triangle 45,x=1cm,y=1cm]
+\draw [color=cqcqcq,, xstep=0.5cm,ystep=0.5cm] (-4.8658753823317715,-2.733563528320184) grid (6.943997768851088,6.090517765227268);
+\clip(-4.8658753823317715,-2.733563528320184) rectangle (6.943997768851088,6.090517765227268);
+\draw [shift={(-2.779834710743806,-0.9641322314049579)},line width=2pt,color=qqwuqq,fill=qqwuqq,fill opacity=0.10000000149011612] (0,0) -- (-5.974323286480479:0.6664713967936151) arc (-5.974323286480479:34.9527630758816:0.6664713967936151) -- cycle;
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+\draw [->,line width=2pt] (-2.779834710743806,-0.9641322314049579) -- (3.6995041322313993,3.564793388429755);
+\draw [->,line width=2pt,color=qqqqff] (-2.779834710743806,-0.9641322314049579) -- (-1.3583471074380211,-1.1128925619834666);
+\draw [->,line width=2pt,color=qqqqff] (3.6995041322313993,3.564793388429755) -- (3.6499173553718953,4.953223140495877);
+\draw [line width=0.8pt,domain=-4.8658753823317715:6.943997768851088] plot(\x,{(--6.34272522368694--4.5289256198347125*\x)/6.4793388429752055});
+\draw [shift={(-2.779834710743806,-0.9641322314049579)},->,line width=2pt,color=qqwuqq] (-5.974323286480479:0.6664713967936151) arc (-5.974323286480479:34.9527630758816:0.6664713967936151);
+\draw [shift={(3.6995041322313993,3.564793388429755)},->,line width=2pt,color=qqwuqq] (34.9527630758816:0.6664713967936151) arc (34.9527630758816:92.04540848888722:0.6664713967936151);
+\begin{scriptsize}
+\draw [fill=ududff] (-2.779834710743806,-0.9641322314049579) circle (2.5pt);
+\draw[color=ududff] (-2.953102473534096,-0.8841054022179045) node {(x,y)};
+\draw [fill=ududff] (3.6995041322313993,3.564793388429755) circle (2.5pt);
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+\draw[color=black] (0.7591432066063398,1.3285796351368946) node {$$\delta$_{trans}$};
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+\draw[color=qqwuqq] (4.174809115173617,4.2543890670608615) node {$$\delta$_{rot2}$};
+\end{scriptsize}
+\end{tikzpicture}
+\end{document}
\ No newline at end of file
diff --git a/latex_and_figures/figs/ch_robotmodel/vel_motion_model_geo.ggb b/latex_and_figures/figs/ch_robotmodel/vel_motion_model_geo.ggb
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index 0000000000000000000000000000000000000000..ff249e62aa923d7f72a8412c40964e068dfced4e
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diff --git a/latex_and_figures/figs/ch_robotmodel/vel_motion_model_geo.txt b/latex_and_figures/figs/ch_robotmodel/vel_motion_model_geo.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5af10579c06baac1c1f8befeda142bd4e2b5e3df
--- /dev/null
+++ b/latex_and_figures/figs/ch_robotmodel/vel_motion_model_geo.txt
@@ -0,0 +1,38 @@
+\documentclass[10pt]{article}
+\usepackage{pgfplots}
+\pgfplotsset{compat=1.15}
+\usepackage{mathrsfs}
+\usetikzlibrary{arrows}
+\pagestyle{empty}
+\newcommand{\degre}{\ensuremath{^\circ}}
+\begin{document}
+\definecolor{qqqqff}{rgb}{0,0,1}
+\definecolor{qqwuqq}{rgb}{0,0.39215686274509803,0}
+\definecolor{ududff}{rgb}{0.30196078431372547,0.30196078431372547,1}
+\begin{tikzpicture}[line cap=round,line join=round,>=triangle 45,x=1cm,y=1cm]
+\clip(-6.433807693467152,-6.137003967258573) rectangle (9.996539691798784,4.201674152451818);
+\draw [shift={(-3.42,-2.6)},line width=2pt,color=qqwuqq,fill=qqwuqq,fill opacity=0.10000000149011612] (0,0) -- (11.639688715129786:0.965229285035205) arc (11.639688715129786:77.53937446355862:0.965229285035205) -- cycle;
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+\draw[line width=2pt,color=qqwuqq,fill=qqwuqq,fill opacity=0.10000000149011612] (1.6971717858387136,-1.5459009429920252) -- (1.743072728830739,-1.7687291571533115) -- (1.9659009429920251,-1.7228282141612863) -- (1.92,-1.5) -- cycle;
+\draw [shift={(-3.42,-2.6)},line width=2pt,color=qqwuqq,fill=qqwuqq,fill opacity=0.10000000149011612] (0,0) -- (0:1.0724769833724501) arc (0:11.639688715129784:1.0724769833724501) -- cycle;
+\draw[line width=2pt,color=qqwuqq,fill=qqwuqq,fill opacity=0.10000000149011612] (1.92,-2.3724932757172548) -- (1.6924932757172544,-2.3724932757172548) -- (1.6924932757172544,-2.6) -- (1.92,-2.6) -- cycle;
+\draw [shift={(-3.42,-2.6)},line width=2pt] (0,0) -- plot[domain=0.2031508919862431:1.3533173843259099,variable=\t]({1*5.452118854170367*cos(\t r)+0*5.452118854170367*sin(\t r)},{0*5.452118854170367*cos(\t r)+1*5.452118854170367*sin(\t r)}) -- cycle ;
+\draw [line width=0.8pt,domain=-6.433807693467152:9.996539691798784] plot(\x,{(--8.6028-5.34*\x)/1.1});
+\draw [->,line width=2pt,color=qqqqff] (1.92,-1.5) -- (1.3686678149473854,1.1764671528917834);
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+\draw [line width=0.8pt] (1.92,-6.137003967258573) -- (1.92,4.201674152451818);
+\draw (-0.4064870469139822,-1.6754997164291923) node[anchor=north west] {r};
+\begin{scriptsize}
+\draw [fill=ududff] (-3.42,-2.6) circle (2.5pt);
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+\draw[color=qqwuqq] (-2.2886841527326323,-2.0884033550275842) node {$\omega$$\Delta$t};
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+\draw[color=qqwuqq] (2.660797125531225,-2.2278253628660023) node {$\theta$};
+\draw[color=qqwuqq] (-1.6237484230417132,-2.377972140538145) node {90\textrm{\degre}- $\theta$};
+\end{scriptsize}
+\end{tikzpicture}
+\end{document}
\ No newline at end of file
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