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Copy pathOdrive3DDemo.py
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Odrive3DDemo.py
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import numpy as np
import cv2
import glob
import argparse
import cv2.aruco as aruco
import pdb
import time
import csv
import serial
import threading
import multiprocessing as mp
import datetime
import math
from OdriveClass import *
def ReadSerial(ser):
#try:
ser.flushInput()
while (ser.inWaiting()<30):
pass
try:
line = ser.readline()
#print(len(line))
# print(line)
list_of_floats_temp=[]
list_of_floats_temp = [float(item) for item in line.decode('ascii').strip().split(';')]
# print("available")
# print(line.decode('ascii').strip())
# self.speed1=self.list_of_floats[10]
# self.speed2=self.list_of_floats[11]
# self.MotCmd1s=self.list_of_floats[12]
# self.MotCmd2s=self.list_of_floats[13]
except:
pass
# line = self.ser.readline()
# print("not available")
# print(len(line))
# print(line.decode('ascii').strip())
# # print(line.decode('ascii').strip())
if len(list_of_floats_temp)==5:
return list_of_floats_temp
else:
return []
# xval1=list_of_floats[0]
# yval1=list_of_floats[1]
# butt1pin=list_of_floats[2]
# butt2pin=list_of_floats[3]
# butt3pin=list_of_floats[4]
# buttjpin=list_of_floats[5]
def map(x,in_min,in_max,out_min,out_max):
v1=x-in_min
v2=out_max - out_min
v3=in_max - in_min
v4=(v1*v2)/v3 + out_min
return v4
#208637853548
#2061377C3548
doCalibrate =1
od0 = Odrive('208637853548')
od1 = Odrive('2061377C3548')
ser_add='/dev/ttyACM2'
ser = serial.Serial(ser_add, 115200,timeout=5)
ser.flushInput()
print("connected")
# tc=time.time()
# while (time.time()-tc < 5):
# vals=[]
# vals=ReadSerial(ser)
# #print(vals)
# if len(vals)>0:
# print(vals)
# ul=670
# if abs(vals[0]-333)<5:
# vals[0]=670/2
# #v4=int(map(vals[0],0,ul,-100000,100000))
# if vals[0] < 320:
# v4=-100000
# if vals[0] > 340:
# v4=-100000
# print(vals[0],v4,vals[2],vals[3],vals[4])
# print('test done')
# time.sleep(5)
if (doCalibrate):
print('ODrive 0 Calibrating')
od0.full_init()
time.sleep(2)
print('ODrive 1 Calibrating')
od1.full_init()
print('Calibration Complete')
ods = [od0, od1]
mot1spd=0
mot2spd=0
mot3spd=0
mot1spd_prev=0
mot2spd_prev=0
mot3spd_prev=0
v4prev=0
v4=0
butt1jprev=0
butt2jprev=0
butt3jprev=0
xval=0
xvalprev=0
tc=time.time()
while (time.time()-tc < 60):
vals=ReadSerial(ser)
if len(vals)>0:
#print(vals)
xval=vals[0]
butt1=vals[2]
butt2=vals[3]
butt3=vals[4]
ul=670
#if abs(vals[0]-333)<5:
# vals[0]=670/2
#v4=int(map(vals[0],0,ul,-100000,100000))
if xval < 300:
#v4= -100000
v4=-25000
#print('v4')
elif xval > 500:
#v4=100000
v4=25000
elif (xval > 300) and (xval < 500):
v4=0
#print('else')
#print(xval<300)
#print(xval,vals[0],v4)
#print(vals[0],v4,vals[2],vals[3],vals[4])
v4prev=v4
xvalprev=xval
butt1jprev=vals[2]
butt2jprev=vals[3]
butt3jprev=vals[4]
else:
v4=v4prev
butt1=butt1jprev
butt2=butt2jprev
butt3=butt3jprev
if butt1==0 and butt2==0 and butt3==0:
mot1spd=0
mot2spd=0
mot3spd=0
else:
if butt1==1:
mot1spd=v4
if butt2==1:
mot2spd=v4
if butt3==1:
mot3spd=v4
print(xvalprev,v4,butt1,butt2,butt3,mot1spd,mot2spd,mot3spd)
if mot1spd != mot1spd_prev:
od0.VelMove(mot1spd,0)
mot1spd_prev=mot1spd
if mot2spd != mot2spd_prev:
od0.VelMove(mot2spd,1)
mot2spd_prev=mot2spd
if mot3spd != mot3spd_prev:
od1.VelMove(mot3spd,1)
mot3spd_prev=mot3spd
# od0.VelMove(mot1spd,1)
# od1.VelMove(mot3spd,1)
od0.VelMove(0,0)
od0.VelMove(0,1)
od1.VelMove(0,1)
print('all done')
time.sleep(2)
# print('moving 1')
# od0.PosMove(400000,0)
# od0.PosMove(400000,1)
# od1.PosMove(400000,1)
# time.sleep(5)
# print('moving 2')
# od0.PosMove(0,0)
# od0.PosMove(0,1)
# od1.PosMove(0,1)
# time.sleep(5)
# print('vel moving 1')
# od0.VelMove(100000,0)
# od0.VelMove(100000,1)
# od1.VelMove(100000,1)
# time.sleep(5)
# od0.VelMove(0,0)
# od0.VelMove(0,1)
# od1.VelMove(0,1)
# time.sleep(1)
# print('vel moving 2')
# od0.VelMove(-100000,0)
# od0.VelMove(-100000,1)
# od1.VelMove(-100000,1)
# time.sleep(5)
# print('stop 1')
# od0.VelMove(0,0)
# od0.VelMove(0,1)
# od1.VelMove(0,1)
#VelMove(self,vel_setpt, num):
def ReadSerial(ser):
#try:
ser.flushInput()
while (ser.inWaiting()<30):
pass
try:
line = ser.readline()
#print(len(line))
# print(line)
list_of_floats_temp=[]
list_of_floats_temp = [float(item) for item in line.decode('ascii').strip().split(';')]
# print("available")
# print(line.decode('ascii').strip())
# self.speed1=self.list_of_floats[10]
# self.speed2=self.list_of_floats[11]
# self.MotCmd1s=self.list_of_floats[12]
# self.MotCmd2s=self.list_of_floats[13]
except:
pass
# line = self.ser.readline()
# print("not available")
# print(len(line))
# print(line.decode('ascii').strip())
return list
# # print(line.decode('ascii').strip())
# if len(list_of_floats_temp)==13:
# xval1=list_of_floats[0]
# yval1=list_of_floats[1]
# butt1pin=list_of_floats[2]
# butt2pin=list_of_floats[3]
# butt3pin=list_of_floats[4]
# buttjpin=list_of_floats[5]