From a5daac6ac2c0a11d456b36c5e8783b0dc87c76a6 Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Fri, 6 Sep 2024 13:13:38 +0200
Subject: [PATCH] Rename Python methods used to set speed
---
Cargo.lock | 2 +-
controller/Cargo.toml | 2 +-
controller/python/controller.py | 48 ++++++++++++++---------------
controller/src/logic/pid_control.rs | 2 +-
4 files changed, 26 insertions(+), 28 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index b105736..e0d8794 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -299,7 +299,7 @@ dependencies = [
[[package]]
name = "controller"
-version = "0.6.0"
+version = "0.6.1"
dependencies = [
"bootloader-params",
"build-support",
diff --git a/controller/Cargo.toml b/controller/Cargo.toml
index 89ab7f8..aff2653 100644
--- a/controller/Cargo.toml
+++ b/controller/Cargo.toml
@@ -4,7 +4,7 @@ description = "Firmware for DC Motor Driver Hat DFR0592"
authors.workspace = true
edition.workspace = true
license.workspace = true
-version = "0.6.0" # Update in python/controller.py as well
+version = "0.6.1" # Update in python/controller.py as well
[lints]
workspace = true
diff --git a/controller/python/controller.py b/controller/python/controller.py
index 35a0006..d2d45ee 100644
--- a/controller/python/controller.py
+++ b/controller/python/controller.py
@@ -64,18 +64,21 @@ class Controller:
)
raise WhoAmIMismatch(error)
- def set_motor_speed(self, left: Optional[float], right: Optional[float]):
- """Set the motor speed between -100 and 100. None means not to
+ def set_raw_motor_speed(self, left: Optional[float], right: Optional[float]):
+ """Set the motor speed between -127 and 127. None means not to
change the motor value. Using None for both motors will put
- the controller board in standby mode and motors will stop."""
+ the controller board in standby mode and motors will stop.
+
+ The speed set through this method will not be regulated by
+ the builtin PID controller."""
def convert(v: Optional[float], arg: str):
if v is None:
return -128
- if not isinstance(v, Real) or v < -100 or v > 100:
+ if not isinstance(v, Real) or v < -127 or v > 127:
raise ValueError(
f"{arg} motor speed "
- "must be a number between -100 and 100, or None"
+ "must be a number between -127 and 127, or None"
)
return round(v)
@@ -84,19 +87,20 @@ class Controller:
list(struct.pack("bb", convert(left, "left"), convert(right, "right"))),
)
- def get_motor_speed(self) -> Optional[tuple[int, int]]:
- """Get the left and right motor speed as a tuple, or None if in standby."""
+ def get_raw_motor_speed(self) -> Optional[tuple[int, int]]:
+ """Get the left and right motor speed as a tuple, or None if in standby.
+ Each speed will be between -127 and 127."""
(left, right) = self._read(self.MOTOR_SPEED, 2, "bb")
return (left, right) if left != 0x80 and right != 0x80 else None
- def set_automatic_motor_speed(self, left: int, right: int):
- """Set the motor speed in ticks by 10th of seconds."""
+ def set_motor_speed(self, left: int, right: int):
+ """Set the motor speed in ticks by 100th of seconds. Each motor speed
+ must be comprised between -32767 and 32767."""
def check(v: int, arg: str):
if v < -32767 or v > 32767:
raise ValueError(
- f"{arg} automatic motor speed must be a number "
- + "between -32767 and 32767"
+ f"{arg} motor speed must be a number " + "between -32767 and 32767"
)
return v
@@ -105,24 +109,18 @@ class Controller:
list(struct.pack("<hh", check(left, "left"), check(right, "right"))),
)
- def get_automatic_motor_speed(self):
- """Get the left and right automatic motor speed as a tuple, or None if
- the system is not in automatic mode."""
+ def get_motor_speed(self):
+ """Get the left and right motor speed as a tuple, or None if
+ the speed has been set by the raw mode method or if the
+ motors have been put into standby mode. The speed is in
+ ticks by 100th of seconds."""
(left, right) = self._read(self.AUTOMATIC_MOTOR_SPEED, 4, "<hh")
return (left, right) if left != -32768 else None
- def set_left_motor_speed(self, speed: float):
- """Set the left motor speed between -100 and 100."""
- self.set_motor_speed(speed, None)
-
- def set_right_motor_speed(self, speed: float):
- """Set the right motor speed between -100 and 100."""
- self.set_motor_speed(None, speed)
-
def standby(self):
"""Stop the motors by putting the controller board in standby
mode."""
- self.set_motor_speed(None, None)
+ self.set_raw_motor_speed(None, None)
def get_encoder_ticks(self) -> tuple[int, int]:
"""Retrieve the encoder ticks since the last time it was
@@ -134,9 +132,9 @@ class Controller:
def get_status(self) -> dict[str, bool]:
"""Return a dict with status fields:
- "moving": True if at least one motor is moving, False otherwise
- - "automatic": True if the motors are in automatic mode, False otherwise"""
+ - "controlled": True if the motors are in controlled mode, False otherwise"""
(status,) = self._read(self.STATUS, 1, "B")
- return {"moving": (status & 1) != 0, "automatic": (status & 2) != 0}
+ return {"moving": (status & 1) != 0, "controlled": (status & 2) != 0}
def set_motor_shutdown_timeout(self, duration: float):
"""Set the duration in seconds after which the motors will
diff --git a/controller/src/logic/pid_control.rs b/controller/src/logic/pid_control.rs
index 9fbc334..ef8ba8f 100644
--- a/controller/src/logic/pid_control.rs
+++ b/controller/src/logic/pid_control.rs
@@ -77,5 +77,5 @@ fn build_speed_command(
PidUnit::from_int(i32::from(measured_ticks)),
)
.round()
- .clamp(-100, 100) as i8 as u8
+ .clamp(-127, 127) as i8 as u8
}
--
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