pid fixes

[ros_wild_thumper.git] / scripts / pid_manual.py

diff --git a/scripts/pid_manual.py b/scripts/pid_manual.py
new file mode 100755 (executable)
index 0000000..77a7bce
--- /dev/null
+++ b/scripts/pid_manual.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import struct
+from time import sleep
+from i2c import i2c_write_reg, i2c_read_reg
+
+KP=0.034
+KI=0.02
+KD=0.0
+PID_T=0.01
+STEP_PER_M_AVG=4171.4
+eold1 = 0.0
+eold2 = 0.0
+eold3 = 0.0
+eold4 = 0.0
+esum1 = 0.0
+esum2 = 0.0
+esum3 = 0.0
+esum4 = 0.0
+speed1_wish=float(sys.argv[1])*STEP_PER_M_AVG
+speed2_wish=float(sys.argv[1])*STEP_PER_M_AVG
+speed3_wish=float(sys.argv[2])*STEP_PER_M_AVG
+speed4_wish=float(sys.argv[2])*STEP_PER_M_AVG
+
+def set_pwm(pwm1, pwm2, pwm3, pwm4):
+       i2c_write_reg(0x50, 0x1, struct.pack(">h", pwm1))
+       i2c_write_reg(0x50, 0x3, struct.pack(">h", pwm2))
+       i2c_write_reg(0x50, 0x5, struct.pack(">h", pwm3))
+       i2c_write_reg(0x50, 0x7, struct.pack(">h", pwm4))
+
+if __name__ == "__main__":
+       for i in range(200):
+               speed1, speed2, speed3, speed4 = struct.unpack(">hhhh", i2c_read_reg(0x50, 0x30, 8))
+               error,  = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))
+
+               if speed1_wish == 0: 
+                       motor1 = 0.0
+                       eold1 = 0.0
+                       esum1 = 0.0
+               else:
+                       e = speed1_wish - speed1
+                       esum1+=e
+                       motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1)
+                       eold1 = e
+
+                       if (motor1 < 0 and speed1_wish > 0): motor1 = 0 
+                       elif (motor1 > 0 and speed1_wish < 0): motor1 = 0       
+                       elif (motor1 > 255): motor1 = 255
+                       elif (motor1 < -255): motor1 = -255
+
+               if speed2_wish == 0: 
+                       motor2 = 0.0
+                       eold2 = 0.0
+                       esum2 = 0.0
+               else:
+                       e = speed2_wish - speed2
+                       esum2+=e
+                       motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2)
+                       eold2 = e
+
+                       if (motor2 < 0 and speed2_wish > 0): motor2 = 0 
+                       elif (motor2 > 0 and speed2_wish < 0): motor2 = 0       
+                       elif (motor2 > 255): motor2 = 255
+                       elif (motor2 < -255): motor2 = -255
+
+               if speed3_wish == 0: 
+                       motor3 = 0.0
+                       eold3 = 0.0
+                       esum3 = 0.0
+               else:
+                       e = speed3_wish - speed3
+                       esum3+=e
+                       motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3)
+                       eold3 = e
+
+                       if (motor3 < 0 and speed3_wish > 0): motor3 = 0 
+                       elif (motor3 > 0 and speed3_wish < 0): motor3 = 0       
+                       elif (motor3 > 255): motor3 = 255
+                       elif (motor3 < -255): motor3 = -255
+
+                       print "Wish=", speed3_wish, "Speed=", speed3, "e=", e, "esum=", esum3, "pwm=", motor3, "error=", error
+
+               if speed4_wish == 0: 
+                       motor4 = 0.0
+                       eold4 = 0.0
+                       esum4 = 0.0
+               else:
+                       e = speed4_wish - speed4
+                       esum4+=e
+                       motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4)
+                       eold4 = e
+
+                       if (motor4 < 0 and speed4_wish > 0): motor4 = 0 
+                       elif (motor4 > 0 and speed4_wish < 0): motor4 = 0       
+                       elif (motor4 > 255): motor4 = 255
+                       elif (motor4 < -255): motor4 = -255
+
+               set_pwm(motor1, motor2, motor3, motor4)
+
+               sleep(PID_T)
+       set_pwm(0, 0, 0, 0)