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motor_test.py
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motor_test.py
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import time
import sys
import math
import logging
import odroid_wiringpi as wpi
sys.path.append('./aeac_controls_2022/')
from pwm import PWM
from constants import *
from motor_specs import MOTORS
from TB9051FTG import TB9051FTG
from PCA9685 import PCA9685
from utils import remap_range
from PID_controller import PID
from encoder import Encoder
logging.getLogger("Adafruit_I2C.Device.Bus.{0}.Address.{1:#0X}".format(0, 0X40)).setLevel(logging.WARNING)
logging.basicConfig(level=logging.DEBUG)
uaslog = logging.getLogger("UASlogger")
class MotorIsolation:
def __init__(self):
# wpi.wiringPiSetup()
self.init_gpio()
######################
# INIT REMOTE VALUES #
######################
self.buttonA = 1
self.buttonB = 1
self.buttonX = 1
self.buttonY = 1
self.ljs_x = 0.0
self.ljs_y = 0.0
self.ljs_sw = 1
self.rjs_x = 0.0
self.rjs_y = 0.0
self.rjs_sw = 1
############
# INIT PWM #
############
uaslog.debug("Init PWM...")
self.pwm = PWM(address=I2C_CHIP, busnum=I2C_BUS, debug=False)
self.pwm.setPWMFreq(FREQUENCY)
###############
# INIT MOTORS #
###############
uaslog.debug("Init Motors...")
# DC BRUSHED
self.pololu_1 = TB9051FTG(channel=CHANNEL4, freq=300, pin_in=MOTORS["pololu_1"]["enc_pins"], pin_out=[30, 7])
self.pololu_1.reset(self.pwm)
# self.pololu_2 = TB9051FTG(channel=CHANNEL5, freq=300, pin_in=MOTORS["pololu_2"]["enc_pins"], pin_out=MOTORS["pololu_2"]["driver_pins"])
# self.pololu_2.reset(self.pwm)
# self.pololu_3 = TB9051FTG(channel=CHANNEL6, freq=300, pin_in=MOTORS["pololu_3"]["enc_pins"], pin_out=MOTORS["pololu_3"]["driver_pins"])
# self.pololu_3.reset(self.pwm)
# self.pololu_4 = TB9051FTG(channel=CHANNEL7, freq=300, pin_in=MOTORS["pololu_4"]["enc_pins"], pin_out=MOTORS["pololu_4"]["driver_pins"])
# self.pololu_4.reset(self.pwm)
def setRemoteValues(self, buttonA, buttonB, buttonX, buttonY, ljs_x, ljs_y, ljs_sw, rjs_x, rjs_y, rjs_sw):
# joystick movement tolerance
if ljs_x < THRESHOLD_HIGH and ljs_x > THRESHOLD_LOW:
ljs_x = 0.0
if ljs_y < THRESHOLD_HIGH and ljs_y > THRESHOLD_LOW:
ljs_y = 0.0
if rjs_x < THRESHOLD_HIGH and rjs_x > THRESHOLD_LOW:
rjs_x = 0.0
self.buttonA = buttonA
self.buttonB = buttonB
self.buttonX = buttonX
self.buttonY = buttonY
self.ljs_x = ljs_x
self.ljs_y = ljs_y
self.ljs_sw = ljs_sw
self.rjs_x = rjs_x
self.rjs_y = rjs_y
self.rjs_sw = rjs_sw
uaslog.debug(f"lSW: {ljs_sw}, lX: {ljs_x}, lY: {ljs_y}, rX: {rjs_x}")
def controlLoop(self):
try:
while True:
# freq and dc motor testing
freq = 300
dc = 60
self.pwm.setPWMFreq(int(freq))
# uaslog.info("Starting Motor Isolation Test...")
# uaslog.info("Each motor will be run forward then back for 3 seconds individually.")
uaslog.info("Running Pololu 1 Position {}".format(MOTORS["pololu_1"]["position"]))
uaslog.info("Forward...")
# wpi.digitalWrite(30, 0) # dir/pwm1 0
self.pololu_1.forward(self.pwm, dutycycle=int(dc))
time.sleep(3)
uaslog.info("Backward...")
self.pololu_1.backward(self.pwm, dutycycle=int(dc))
time.sleep(3)
self.pololu_1.reset(self.pwm)
# uaslog.info("Running Pololu 2 Position {}".format(MOTORS["pololu_2"]["position"]))
# uaslog.info("Forward...")
# self.pololu_2.forward(self.pwm, dutycycle=int(dc))
# time.sleep(3)
# uaslog.info("Backward...")
# self.pololu_2.backward(self.pwm, dutycycle=int(dc))
# time.sleep(3)
# self.pololu_2.reset(self.pwm)
# uaslog.info("Running Pololu 3 Position {}".format(MOTORS["pololu_3"]["position"]))
# uaslog.info("Forward...")
# self.pololu_3.forward(self.pwm, dutycycle=int(dc))
# time.sleep(3)
# uaslog.info("Backward...")
# self.pololu_3.backward(self.pwm, dutycycle=int(dc))
# time.sleep(3)
# self.pololu_3.reset(self.pwm)
# uaslog.info("Running Pololu 4 Position {}".format(MOTORS["pololu_4"]["position"]))
# uaslog.info("Forward...")
# self.pololu_4.forward(self.pwm, dutycycle=int(dc))
# time.sleep(3)
# uaslog.info("Backward...")
# self.pololu_4.backward(self.pwm, dutycycle=int(dc))
# time.sleep(3)
# self.pololu_4.reset(self.pwm)
uaslog.info("Motor Isolation Test Complete!")
except Exception as e:
uaslog.warning(f"{e}\nMotor Isolation Test Complete.")
self.cleanup()
sys.exit(0)
def init_gpio(self):
uaslog.info("Init GPIO...")
# unexport pins
for pin in range(0, 256):
file = open("/sys/class/gpio/unexport","w")
file.write(str(pin))
# setup wpi
wpi.wiringPiSetup()
# set pin mode
for pin in GPIO_IN:
wpi.pinMode(pin, wpi.INPUT)
wpi.pullUpDnControl(pin, wpi.GPIO.PUD_UP)
for pin in GPIO_OUT:
wpi.pinMode(pin, wpi.OUTPUT)
# init out pins low
wpi.digitalWrite(pin, 0)
uaslog.info("Init GPIO complete!")
def cleanup(self):
uaslog.info("Cleaning up driver system...")
# reset motors
self.pololu_1.reset(self.pwm)
# self.pololu_2.reset(self.pwm)
# self.pololu_3.reset(self.pwm)
# self.pololu_4.reset(self.pwm)
# unexport pins
for pin in range(0, 256):
file = open("/sys/class/gpio/unexport","w")
file.write(str(pin))
uaslog.info("Driver system cleanup complete!")
def main():
test = MotorIsolation()
test.controlLoop()
if __name__ == "__main__":
main()