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main.py
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main.py
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#!/usr/bin/env python3
# coding: utf-8
##########################################
# MAIN.py - Hauptklasse
##########################################
from gamepad import Gamepad
from motor import Motor
from gui import Gui
from gyro import Gyro
from accel import Accel
from bno import BNO
from pygame.locals import *
import sys, os, time, pygame, curses, getopt
class Main():
def __init__(self, GUI, DEBUG, fps, stick_sens, saveFile):
self.GUI = GUI
self.DEBUG = DEBUG
self.max_fps = fps
self.stick_sens = stick_sens
self.saveFile = saveFile
pygame.init()
self.clock = pygame.time.Clock()
self.run = True
self.started = False
self.main_throttle = 0
self.throttle = [0,0,0,0]
self.holdPosition = 0
self.holdHeight = 0
self.isGamepad = 1
self.gamepad = Gamepad()
self.gamepad_axes = [0,0,0]
self.gamepad_throttle = 0
self.bno = BNO()
self.m1 = Motor(15)
self.m2 = Motor(27)
self.m3 = Motor(10)
self.m4 = Motor(7)
self.motors = [self.m1, self.m2, self.m3, self.m4]
if self.GUI:
self.gui = Gui()
if self.GUI:
self.gui.showMessage("Press 'start'-Button to start!")
if self.DEBUG:
# Print system status and self test result.
status, self_test, error = self.bno.get_system_status()
print("DEBUG: System status: {0}".format(status))
print("DEBUG: Self test result (0x0F is normal): 0x{0:02X}".format(self_test))
# Print out an error if system status is in error mode.
if status == 0x01:
print("DEBUG: System error: {0}".format(error))
print("DEBUG: See datasheet section 4.3.59 for the meaning.")
# Print BNO055 software revision and other diagnostic data.
sw, bl, accel, mag, gyro = self.bno.get_revision()
print("DEBUG: Software version: {0}".format(sw))
print("DEBUG: Bootloader version: {0}".format(bl))
print("DEBUG: Accelerometer ID: 0x{0:02X}".format(accel))
print("DEBUG: Magnetometer ID: 0x{0:02X}".format(mag))
print("DEBUG: Gyroscope ID: 0x{0:02X}\n".format(gyro))
self.load()
if self.DEBUG:
print("DEBUG: READY!")
self.loop()
def eventHandler(self):
for event in pygame.event.get():
if event.type == QUIT:
if self.DEBUG:
print("DEBUG: SHUTDOWN")
pygame.quit()
if self.GUI:
curses.endwin()
sys.exit()
elif event.type == JOYBUTTONDOWN:
self.gamepad.handleButtonDown(event.button)
elif event.type == JOYBUTTONUP:
self.gamepad.handleButtonUp(event.button)
def getGamepadValues(self):
self.gamepad_throttle = self.gamepad.getThrottle()
self.gamepad_axes = self.gamepad.getAxis()
def checkCalibButtons(self):
if self.gamepad.isSave:
if self.DEBUG:
print("DEBUG: Save Calibration-Data")
self.save()
if self.DEBUG:
print("DEBUG: Data saved")
if self.gamepad.isCalib:
if self.DEBUG:
print("DEBUG: calibrate BNO")
self.bno.calibrateBNO()
if self.DEBUG:
print("DEBUG: new offset: {0}".format(self.bno.offset))
def save(self):
if self.DEBUG:
print("DEBUG: Open File: "+self.saveFile)
f = open(os.path.abspath(self.saveFile), "w")
f.write(str(self.bno.offset))
f.write("\n")
f.write(str(self.gamepad.offset))
f.close()
self.gamepad.isSave = False
def load(self):
if self.DEBUG:
print("DEBUG: Open File: "+self.saveFile)
try:
f = open(os.path.abspath(self.saveFile), "r")
except IOError:
if self.DEBUG:
print("DEBUG: No SaveFile - Nothing to load")
return
if self.DEBUG:
print("DEBUG: Loading...")
loaded = f.read().replace(" ", "").split("\n")
loaded = [loaded[0][1:-1].split(","), loaded[1][1:-1].split(",")]
self.bno.offset = [float(loaded[0][0]), float(loaded[0][1]), float(loaded[0][2])]
self.gamepad.offset = [float(loaded[1][0]), float(loaded[1][1]), float(loaded[1][2])]
if self.DEBUG:
print("Loaded! - bno-offset: {0} - gamepad-offset: {1}".format(self.bno.offset, self.gamepad.offset))
f.close()
def start_motors(self):
if self.DEBUG:
print("DEBUG: Calibrate Throttle!")
if self.GUI:
self.gui.hideMessage()
self.gui.showMessage("Calibrate Throttle!")
while self.gamepad.getThrottle()<=50:
pygame.event.pump()
while self.gamepad.getThrottle()!=0:
pygame.event.pump()
if self.DEBUG:
print("DEBUG: Initializing motors")
for m in self.motors:
m.start()
self.started = True
if self.DEBUG:
print("DEBUG: STARTED!")
if self.GUI:
self.gui.hideMessage()
def stop_motors(self):
if self.DEBUG:
print("DEBUG: stopping motors")
for m in self.motors:
m.stop()
self.started = False
if self.DEBUG:
print("DEBUG: STOPPED!")
print("DEBUG: READY!")
if self.GUI:
self.gui.showMessage("Press 'start'-Button to start!")
def changeMotorSpeed(self):
self.throttle = [0,0,0,0]
self.getGamepadValues()
self.bno.tick()
if (self.gamepad.isBNO):
if self.DEBUG:
print('DEBUG: Heading={0:0.2F} Roll={1:0.2F} Pitch={2:0.2F}'.format(self.bno.heading, self.bno.roll, self.bno.pitch))
pitch = self.bno.pitch
roll = self.bno.roll
if pitch > 10:
pitch = 10
elif pitch < -10:
pitch = -10
if roll > 10:
roll = 10
elif roll < -10:
roll = -10
self.throttle[0] += pitch-roll
self.throttle[1] += pitch+roll
self.throttle[2] += -pitch+roll
self.throttle[3] += -pitch-roll
#Pad-Motor-Steuerung
self.throttle[0] += -self.gamepad_axes[0]*self.stick_sens+self.gamepad.offset[0] + self.gamepad_axes[1]*self.stick_sens+self.gamepad.offset[1] - self.gamepad.offset[2]
self.throttle[1] += -self.gamepad_axes[0]*self.stick_sens+self.gamepad.offset[0] - self.gamepad_axes[1]*self.stick_sens-self.gamepad.offset[1] + self.gamepad.offset[2]
self.throttle[2] += +self.gamepad_axes[0]*self.stick_sens-self.gamepad.offset[0] - self.gamepad_axes[1]*self.stick_sens-self.gamepad.offset[1] - self.gamepad.offset[2]
self.throttle[3] += +self.gamepad_axes[0]*self.stick_sens-self.gamepad.offset[0] + self.gamepad_axes[1]*self.stick_sens+self.gamepad.offset[1] + self.gamepad.offset[2]
self.throttle = [int(self.gamepad_throttle+self.throttle[i]) for i in range(4)]
for i in range(4):
if self.throttle[i] > 100:
self.throttle[i] = 100
elif self.throttle[i] < 0:
self.throttle[i] = 0
self.motors[i].setW(self.throttle[i])
def loop(self):
while self.run:
self.clock.tick(self.max_fps)
pygame.event.pump()
self.eventHandler()
if self.GUI:
self.gui.guiTick(self.clock.get_fps(), self.throttle, self.gamepad.isStart, self.gamepad.isBNO, [self.bno.heading, self.bno.pitch, self.bno.roll])
if self.gamepad.isStart:
if not self.started:
self.start_motors()
self.changeMotorSpeed()
else:
self.checkCalibButtons()
if self.started:
self.stop_motors()