Working communication between arduino and python program

Working communication between arduino and python program

Author: himalayanelixir

.DS_Store

@@ -0,0 +1,141 @@
+/*
+  Feedback 360 Angle Control [Low Level Example].c
+  
+  This is a simplified example of how the low-level position control is done.
+  These features would normally be tucked away in a library like abdrive360
+  or servo360 with functions to request measured angle, set target angle, 
+  and etc.  
+*/
+
+// Library inlcudes  
+#include "simpletools.h"                      // For pulse_in, print, scan etc...
+#include "servo.h"                            // For servo pulse control
+
+int pinFeedback = 14;                         // P14 connected to feedback line
+int pinControl = 12;                          // P12 connected to control line
+
+volatile int angle, targetAngle;              // Global shared variables
+volatile int Kp = 1;                          // Proportional constant   
+
+void feedback360();                           // Position monitoring
+void control360();                            // Position control
+
+int main()                                    // Main function
+{
+  cog_run(feedback360, 128);                  // Run feedback360 in a cog
+  cog_run(control360, 128);                   // Run control360 in a cog
+  pause(100);                                 // Wait 1/10 s, might not need
+
+  while(1)                                    // Main loop
+  {
+    print("Enter angle: ");                   // Prompt user for angle
+    scan("%d", &targetAngle);                 // Get entered angle
+    print("\r");                              // Next line
+    while(abs(targetAngle - angle) > 4)       // Display until close to finish
+    {
+      print("targetAngle = %d, angle = %d\r", // Display target & measured
+             targetAngle, angle);             
+      pause(50);                              // ...every 50 ms
+    }      
+  }    
+}
+
+
+void feedback360()                            // Cog keeps angle variable updated
+{
+  int unitsFC = 360;                          // Units in a full circle
+  int dutyScale = 1000;                       // Scale duty cycle to 1/1000ths
+  int dcMin = 29;                             // Minimum duty cycle
+  int dcMax = 971;                            // Maximum duty cycle
+  int q2min = unitsFC/4;                      // For checking if in 1st quadrant
+  int q3max = q2min * 3;                      // For checking if in 4th quadrant
+  int turns = 0;                              // For tracking turns
+  // dc is duty cycle, theta is 0 to 359 angle, thetaP is theta from previous
+  // loop repetition, tHigh and tLow are the high and low signal times for 
+  // duty cycle calculations.
+  int dc, theta, thetaP, tHigh, tLow;         
+
+  // Measure feedback signal high/low times.
+  tLow = pulse_in(pinFeedback, 0);            // Measure low time 
+  tHigh = pulse_in(pinFeedback, 1);           // Measure high time
+
+  // Calcualte initial duty cycle and angle.
+  dc = (dutyScale * tHigh) / (tHigh + tLow);
+  theta = (unitsFC - 1) - ((dc - dcMin) * unitsFC) / (dcMax - dcMin + 1);
+  thetaP = theta;
+
+  while(1)                                    // Main loop for this cog
+  {
+    // Measure high and low times, making sure to only take valid cycle
+    // times (a high and a low on opposite sides of the 0/359 boundary
+    // will not be valid.
+    int tCycle = 0;                           // Clear cycle time
+    while(1)                                  // Keep checking
+    {
+      tHigh = pulse_in(pinFeedback, 1);       // Measure time high
+      tLow = pulse_in(pinFeedback, 0);        // Measure time low
+      tCycle = tHigh + tLow;
+      if((tCycle > 1000) && (tCycle < 1200))  // If cycle time valid 
+        break;                                // break from loop
+    }      
+    dc = (dutyScale * tHigh) / tCycle;        // Calculate duty cycle
+    
+    // This gives a theta increasing int the
+    // counterclockwise direction.
+    theta = (unitsFC - 1) -                   // Calculate angle
+            ((dc - dcMin) * unitsFC) 
+            / (dcMax - dcMin + 1);
+
+    if(theta < 0)                             // Keep theta valid
+      theta = 0; 
+    else if(theta > (unitsFC - 1)) 
+      theta = unitsFC - 1;
+
+    // If transition from quadrant 4 to  
+    // quadrant 1, increase turns count. 
+    if((theta < q2min) && (thetaP > q3max))
+      turns++;
+    // If transition from quadrant 1 to  
+    // quadrant 4, decrease turns count. 
+    else if((thetaP < q2min) && (theta > q3max))
+      turns --;
+
+    // Construct the angle measurement from the turns count and
+    // current theta value.
+    if(turns >= 0)
+      angle = (turns * unitsFC) + theta;
+    else if(turns <  0)
+      angle = ((turns + 1) * unitsFC) - (unitsFC - theta);
+
+    thetaP = theta;                           // Theta previous for next rep
+  }
+}    
+
+
+// Most rudimentary control system example, 
+// just proportional.  This could be done
+// in the same cog as the angle mesurement.                                            
+void control360()                             // Cog for control system
+{
+  servo_speed(pinControl, 0);                 // Start servo control cog
+  
+  int errorAngle, output, offset;             // Control system variables
+  
+  while(1)                                    // Main loop for this cog
+  {
+    errorAngle = targetAngle - angle;         // Calculate error
+    output = errorAngle * Kp;                 // Calculate proportional 
+    if(output > 200) output = 200;            // Clamp output
+    if(output < -200) output = -200;
+    if(errorAngle > 0)                        // Add offset
+      offset = 30;
+    else if(errorAngle < 0)
+      offset = -30;
+    else
+      offset = 0;     
+    servo_speed(pinControl, output + offset); // Set output
+    pause(20);                                // Repeat after 20 ms
+  }    
+}  
+
+

900-00360-Feedback-360-Servo-Propeller-C-Examples-v1.0/Feedback360 Angle Control [Low Level Example].c

@@ -0,0 +1,9 @@
+Feedback360 Angle Control [Low Level Example].c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

900-00360-Feedback-360-Servo-Propeller-C-Examples-v1.0/Feedback360 Angle Control [Low Level Example].side

@@ -93,7 +93,7 @@ def runTest(td):
 print ("")
 print ("")
 
-serPort = "/dev/tty.usbmodem14311"
+serPort = "/dev/cu.SLAB_USBtoUART"
 baudRate = 9600
 ser = serial.Serial(serPort, baudRate)
 print ("Serial port " + serPort + " opened  Baudrate " + str(baudRate))
@@ -106,7 +106,7 @@ def runTest(td):
 while 1 :
     print ("===========")
     print ("")
-    text = input("Up or Down?: ")
+    text = input("Up 1 or Down 1?: ")
     text = "<" + text + ">"
     runTest(text)
     time.sleep(1)

Ceiling.py

@@ -0,0 +1,38 @@
+#include <Wire.h>
+#include <Adafruit_PWMServoDriver.h>
+
+Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
+
+#define MIN_PULSE_WIDTH       1280
+#define MAX_PULSE_WIDTH       1720
+#define DEFAULT_PULSE_WIDTH   1350
+#define FREQUENCY             50
+
+uint8_t servonum = 0;
+
+void setup() 
+{
+  Serial.begin(9600);
+  Serial.println("16 channel Servo test!");
+  pwm.begin();
+  pwm.setPWMFreq(FREQUENCY);
+}
+int pulseWidth(int angle)
+{
+  int pulse_wide, analog_value;
+  pulse_wide   = map(angle, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+  analog_value = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096);
+  Serial.println(analog_value);
+  return analog_value;
+}
+
+void loop() {
+  pwm.setPWM(0, 0, pulseWidth(200));
+  delay(1000);
+  //pwm.setPWM(0, 0, pulseWidth(120));
+  //delay(500);
+  //pwm.setPWM(0, 0, pulseWidth(90));
+  delay(1000);
+
+}
+

SERVOTEST/SERVOTEST.ino

@@ -0,0 +1,14 @@
+#include <Servo.h>
+
+Servo myservo;
+ 
+void setup() {
+myservo.attach(9);
+}
+ 
+void loop() {
+myservo.write(0);
+delay(1000);
+myservo.write(40);
+delay(1000);
+}