asr_vosk: Allow to handle keyword and command in one sentence

[ros_wild_thumper.git] / scripts / pid_manual.py

diff --git a/scripts/pid_manual.py b/scripts/pid_manual.py
index 77a7bce3f39a40cbef907d60296db2f6f5cfb313..6806f629e12a2f13e8f02293282bcaf723c8f748 100755 (executable)
--- a/scripts/pid_manual.py
+++ b/scripts/pid_manual.py
@@ -6,11 +6,11 @@ import struct
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 

-KP=0.034
-KI=0.02
+KP=0.06
+KI=0.10

 KD=0.0
 PID_T=0.01
 KD=0.0
 PID_T=0.01

-STEP_PER_M_AVG=4171.4
+STEP_PER_M_AVG=5766.1

 eold1 = 0.0
 eold2 = 0.0
 eold3 = 0.0
 eold1 = 0.0
 eold2 = 0.0
 eold3 = 0.0


@@ -19,6 +19,7 @@ esum1 = 0.0
 esum2 = 0.0
 esum3 = 0.0
 esum4 = 0.0
 esum2 = 0.0
 esum3 = 0.0
 esum4 = 0.0

+PWM_BREAK = -32768

 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
 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


@@ -45,11 +46,13 @@ if __name__ == "__main__":
                        motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1)
                        eold1 = 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       
+                       if (motor1 < 0 and speed1_wish > 0): motor1 = PWM_BREAK 
+                       elif (motor1 > 0 and speed1_wish < 0): motor1 = PWM_BREAK

                        elif (motor1 > 255): motor1 = 255
                        elif (motor1 < -255): motor1 = -255
 
                        elif (motor1 > 255): motor1 = 255
                        elif (motor1 < -255): motor1 = -255
 

+                       print "Wish=", speed1_wish, "Speed=", speed1, "e=", e, "esum=", esum1, "pwm=", motor1, "error=", error
+

                if speed2_wish == 0: 
                        motor2 = 0.0
                        eold2 = 0.0
                if speed2_wish == 0: 
                        motor2 = 0.0
                        eold2 = 0.0


@@ -60,8 +63,8 @@ if __name__ == "__main__":
                        motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2)
                        eold2 = 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       
+                       if (motor2 < 0 and speed2_wish > 0): motor2 = PWM_BREAK
+                       elif (motor2 > 0 and speed2_wish < 0): motor2 = PWM_BREAK

                        elif (motor2 > 255): motor2 = 255
                        elif (motor2 < -255): motor2 = -255
 
                        elif (motor2 > 255): motor2 = 255
                        elif (motor2 < -255): motor2 = -255
 


@@ -75,13 +78,11 @@ if __name__ == "__main__":
                        motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3)
                        eold3 = 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       
+                       if (motor3 < 0 and speed3_wish > 0): motor3 = PWM_BREAK
+                       elif (motor3 > 0 and speed3_wish < 0): motor3 = PWM_BREAK

                        elif (motor3 > 255): motor3 = 255
                        elif (motor3 < -255): motor3 = -255
 
                        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
                if speed4_wish == 0: 
                        motor4 = 0.0
                        eold4 = 0.0


@@ -92,11 +93,13 @@ if __name__ == "__main__":
                        motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4)
                        eold4 = 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       
+                       if (motor4 < 0 and speed4_wish > 0): motor4 = PWM_BREAK
+                       elif (motor4 > 0 and speed4_wish < 0): motor4 = PWM_BREAK

                        elif (motor4 > 255): motor4 = 255
                        elif (motor4 < -255): motor4 = -255
 
                        elif (motor4 > 255): motor4 = 255
                        elif (motor4 < -255): motor4 = -255
 

+                       #print "Wish=", speed4_wish, "Speed=", speed4, "e=", e, "esum=", esum4, "pwm=", motor4, "error=", error
+

                set_pwm(motor1, motor2, motor3, motor4)
 
                sleep(PID_T)
                set_pwm(motor1, motor2, motor3, motor4)
 
                sleep(PID_T)