merge develop

Author: previ

coderbot.py

@@ -132,7 +132,7 @@ def __init__(self, motor_trim_factor=1.0, encoder=True):
                       sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_4_TRIGGER, self.GPIOS.PIN_SONAR_4_ECHO)]
         self._servos = [self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
 
-        #self.stop()
+        self.stop()
         self._is_moving = False
 
     the_bot = None

cv/image.py

@@ -51,7 +51,7 @@ class Image():
     _aruco_parameters = cv2.aruco.DetectorParameters_create()
 
     #_face_cascade = cv2.CascadeClassifier('/usr/local/share/OpenCV/haarcascades/haarcascade_frontalface_default.xml')
-    _face_cascade = cv2.CascadeClassifier('/usr/local/share/OpenCV/lbpcascades/lbpcascade_frontalface.xml')
+    _face_cascade = cv2.CascadeClassifier('/usr/share/opencv/lbpcascades/lbpcascade_frontalface.xml')
 
     def __init__(self, array):
         self._data = array
@@ -161,7 +161,7 @@ def get_average(self):
     def find_blobs(self, minsize=0, maxsize=10000000):
         blobs = []
         image = contours = hyerarchy = None
-        image, contours, hyerarchy = cv2.findContours(self._data, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
+        contours, hyerarchy = cv2.findContours(self._data, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
 
         for c in contours:
             area = cv2.contourArea(c)

requirements_stub.txt

@@ -1,42 +1,42 @@
 # Basic set of required packages. If you need to run on a real system (NOT in STUB mode)
 #  install the packages in `requirements.txt` too.
 
-absl-py==0.8.1
-apiai==1.2.3
-astor==0.7.1
-Babel==2.5.3
+absl-py==0.9.0
+astor==0.8.1
+Babel==2.8.0
 certifi==2018.4.16
 chardet==3.0.4
-click==6.7
+click==7.0
 clickclick==1.2.2
 connexion==1.4.2
 Flask==1.1.1
 Flask-Babel==0.12.2
 Flask-Cors==3.0.8
-gast==0.2.0
-grpcio==1.25.0
-idna==2.6
+gast==0.2.2
+grpcio==1.26.0
+idna==2.8
+pybind11==2.4.3
 inflection==0.3.1
 itsdangerous==0.24
-Jinja2==2.10.3
+Jinja2==2.11.1
 jsonschema==2.6.0
-Markdown==2.6.11
-MarkupSafe==1.0
+Markdown==3.1.1
+MarkupSafe==1.1.1
 numpy==1.17.4
-opencv-contrib-python==3.4.3.18
-pigpio==1.44
+opencv-contrib-python==4.1.1.26
+pigpio==1.45
 Pillow==7.0.0
-protobuf==3.6.1
+protobuf==3.11.3
 Pypubsub==4.0.0
 pytz==2018.4
 pyyaml>=4.2b1
 pyzbar==0.1.7
-requests==2.20.0
-six==1.11.0
+requests==2.22.0
+six==1.14.0
 swagger-spec-validator==2.3.1
 termcolor==1.1.0
 tinydb==3.12.1
-tensorflow>=2.0.0
+tensorflow==2.1.0
 tensorflow_hub>=0.7.0
 urllib3==1.24.2
 Werkzeug==0.15.3

rotary_encoder/motorencoder.py

@@ -149,6 +149,50 @@ def adjust_power(self, power):
         # releasing lock on motor
         self._motor_lock.release()
 
+    # CALLBACK
+    """ The callback function rotary_callback is called on FALLING_EDGE by the
+        rotary_decoder with a parameter value of 1 (1 new tick)
+
+        - Gearbox ratio: 120:1 (1 wheel revolution = 120 motor revolution)
+        - Encoder ratio: 16:1 encoder ticks for 1 motor revolution
+        - 1 wheel revolution = 120 * 16 = 1920 ticks
+        - R = 30mm        - 1 wheel revolution = 2πR = 2 * π * 30mm = 188.5mm
+        - 1920 ticks = 188.5mm
+        - 1 tick = 0.0981mm
+        - 1 tick : 0.0981mm = x : 1000mm -> x = 10193 ticks approximately 
+        So 0.0981 is the ticks->distance(mm) conversion coefficient
+
+        The callback function calculates current velocity by taking groups of 
+        ticks_threshold ticks"""
+
+    # callback function
+    # it calculates velocity via approssimation
+    # it doeas a mean on current time passed and actual distance travelled
+    # NOT USEFUL FOR VELOCITY REGULATION since we need to know the current
+    # velocity updated each time
+    def rotary_callback(self, tick):
+        self._motor_lock.acquire()
+
+        # on first movement
+        if(self._distance == 0):
+            self._start_timer = time() # clock started
+
+
+        self._ticks += tick  # updating ticks
+        self._distance = self._ticks * 0.0981  # (mm) travelled
+
+        self._power = power  # setting current power
+
+        # adjusting power forward
+        if (self._direction == 1):
+            self._pi.set_PWM_dutycycle(self._forward_pin, abs(power))
+        # adjusting power bacakward
+        else:
+            self._pi.set_PWM_dutycycle(self._backward_pin, abs(power))
+
+        # releasing lock on motor
+        self._motor_lock.release()
+
     # CALLBACK
     """ The callback function rotary_callback is called on FALLING_EDGE by the
             rotary_decoder with a parameter value of 1 (1 new tick)

rotary_encoder/wheelsaxel.py

@@ -1,6 +1,7 @@
 import pigpio
 import threading
 from time import sleep
+import logging
 
 from rotary_encoder.motorencoder import MotorEncoder
 
@@ -36,7 +37,7 @@ def __init__(self, pi, enable_pin,
                                          right_encoder_feedback_pin_B)
 
         # other
-        self._wheelsAxle_lock = threading.Condition() # race condition lock
+        #self._wheelsAxle_lock = threading.RLock() # race condition lock
 
     # STATE GETTERS
     """ Distance and speed are calculated by a mean of the feedback
@@ -78,7 +79,7 @@ def control(self, power_left=100, power_right=100, time_elapse=0, target_distanc
     """ Motor time control allows the motors
         to run for a certain amount of time """
     def control_time(self, power_left=100, power_right=100, time_elapse=0):
-        self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
+        #self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
 
         # applying tension to motors
         self._left_motor.control(power_left)
@@ -94,7 +95,7 @@ def control_time(self, power_left=100, power_right=100, time_elapse=0):
     """ Motor distance control allows the motors
             to run for a certain amount of distance (mm) """
     def control_distance(self, power_left=100, power_right=100, target_distance=0):
-        self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
+        #self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
         self._is_moving = True
 
         # applying tension to motors
@@ -192,17 +193,18 @@ def stop(self):
 
         # trying to fix distance different than zero after
         # wheels has stopped by re-resetting state after 0.5s
-        sleep(0.1)
+
         self._left_motor.reset_state()
         self._right_motor.reset_state()
 
         # updating state
         self._is_moving = False
         # restoring callback
-        try:
-            self._wheelsAxle_lock.release()
-        except RuntimeError:
-            pass
+        #try:
+        #    self._wheelsAxle_lock.release()
+        #except RuntimeError as e:
+        #    logging.error("error: " + str(e))
+        #    pass
 
     # CALLBACK
     def cancel_callback(self):

start.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+LD_PRELOAD=/usr/lib/arm-linux-gnueabihf/libatomic.so.1.2.0 python3 init.py

test/coderbot_test.py

@@ -32,12 +32,12 @@ def test_motor_right(self):
         self.bot.left(speed=100, elapse=0.1)
 
     def test_motor_move(self):
-        self.bot.move(speed=100, elapse=0.1, steps=-1)
-        self.bot.move(speed=-100, elapse=0.1, steps=-1)
+        self.bot.move(speed=100, elapse=0.1)
+        self.bot.move(speed=-100, elapse=0.1)
 
     def test_motor_turn(self):
-        self.bot.turn(speed=100, elapse=0.1, steps=-1)
-        self.bot.turn(speed=-100, elapse=0.1, steps=-1)
+        self.bot.turn(speed=100, elapse=0.1)
+        self.bot.turn(speed=-100, elapse=0.1)
 
 class CoderBotServoMotorTestCase(unittest.TestCase):
     def setUp(self):
@@ -58,12 +58,12 @@ def test_motor_right(self):
         self.bot.left(speed=100, elapse=0.1)
 
     def test_motor_move(self):
-        self.bot.move(speed=100, elapse=0.1, steps=-1)
-        self.bot.move(speed=-100, elapse=0.1, steps=-1)
+        self.bot.move(speed=100, elapse=0.1)
+        self.bot.move(speed=-100, elapse=0.1)
 
     def test_motor_turn(self):
-        self.bot.turn(speed=100, elapse=0.1, steps=-1)
-        self.bot.turn(speed=-100, elapse=0.1, steps=-1)
+        self.bot.turn(speed=100, elapse=0.1)
+        self.bot.turn(speed=-100, elapse=0.1)
 
 
 class CoderBotSonarTestCase(unittest.TestCase):