code

3 files changed, 0 insertions, 229 deletions

diff --git a/CODE/debug/motordriver/PID_autotune/PID.py b/CODE/debug/motordriver/PID_autotune/PID.py
deleted file mode 100644
index e24dbd6..0000000
--- a/CODE/debug/motordriver/PID_autotune/PID.py
+++ /dev/null
@@ -1,131 +0,0 @@
-import serial
-import time
-from simple_pid import PID
-import matplotlib.pyplot as plt
-from matplotlib.widgets import Slider, Button
-
-# Initialize serial communication
-arduino = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=.1)
-
-# Function to write to and read from Arduino
-def write_read(x):
-    arduino.write(bytes(x, 'utf-8'))
-    time.sleep(0.05)
-    data = arduino.readline().decode().strip()
-    return data
-
-# Real-time plotting setup
-fig, (ax1, ax2) = plt.subplots(2, 1)
-feedback_list = []
-control_list = []
-setpoint_list = []
-
-def clamp(feedback, min_value, max_value):
-    return max(min(feedback, max_value), min_value)
-
-def update_plot(feedback, control, setpoint):
-    feedback_clamped = clamp(feedback, 0, 1000)  # Clamp feedback value between 0 and 1000
-    feedback_list.append(feedback_clamped)
-    control_list.append(control)
-    setpoint_list.append(setpoint)
-
-    # Limit lists to 50 items for smoother plotting
-    if len(feedback_list) > 50:
-        feedback_list.pop(0)
-        control_list.pop(0)
-        setpoint_list.pop(0)
-
-    ax1.clear()
-    ax2.clear()
-
-    ax1.plot(feedback_list, label="Feedback")
-    ax1.plot(setpoint_list, label="Setpoint")
-    ax1.legend()
-
-    ax2.plot(control_list, label="Control")
-    ax2.legend()
-
-    ax1.set_ylabel('RPM')
-    ax2.set_ylabel('Control Signal')
-    ax2.set_xlabel('Time')
-
-    plt.tight_layout()
-    plt.pause(0.05)  # Pause to allow plot to update
-
-# Initialize PID controller with output limits
-initial_setpoint = 500  # Initial setpoint
-pid = PID(0, 0, 0, output_limits=(0, 1000))
-pid.setpoint = initial_setpoint
-
-# Initialize PID parameters (preserved across resets)
-preserved_parameters = {
-    'Kp': 0,
-    'Ki': 0,
-    'Kd': 0,
-    'setpoint': initial_setpoint
-}
-
-# Function to update PID parameters
-def update_pid(val):
-    pid.Kp = s_kp.val
-    pid.Ki = s_ki.val
-    pid.Kd = s_kd.val
-    preserved_parameters['Kp'] = s_kp.val
-    preserved_parameters['Ki'] = s_ki.val
-    preserved_parameters['Kd'] = s_kd.val
-    setpoint = s_setpoint.val
-    pid.setpoint = setpoint
-    preserved_parameters['setpoint'] = setpoint
-    print(f"Setpoint: {setpoint}, Kp: {pid.Kp}, Ki: {pid.Ki}, Kd: {pid.Kd}")
-
-# Create sliders for PID parameters and setpoint
-axcolor = 'lightgoldenrodyellow'
-ax_setpoint = plt.axes([0.15, 0.1, 0.65, 0.03], facecolor=axcolor)
-ax_kp = plt.axes([0.15, 0.15, 0.65, 0.03], facecolor=axcolor)
-ax_ki = plt.axes([0.15, 0.2, 0.65, 0.03], facecolor=axcolor)
-ax_kd = plt.axes([0.15, 0.25, 0.65, 0.03], facecolor=axcolor)
-
-s_setpoint = Slider(ax_setpoint, 'Setpoint', 0, 1000, valinit=initial_setpoint)
-s_kp = Slider(ax_kp, 'Kp', 0, 10, valinit=preserved_parameters['Kp'])
-s_ki = Slider(ax_ki, 'Ki', 0, 10, valinit=preserved_parameters['Ki'])
-s_kd = Slider(ax_kd, 'Kd', 0, 10, valinit=preserved_parameters['Kd'])
-
-s_setpoint.on_changed(update_pid)
-s_kp.on_changed(update_pid)
-s_ki.on_changed(update_pid)
-s_kd.on_changed(update_pid)
-
-# Function to reset algorithm and set speed to zero
-def reset_algorithm(event):
-    global feedback_list, control_list, setpoint_list
-    feedback_list.clear()
-    control_list.clear()
-    setpoint_list.clear()
-    pid.reset()
-    s_setpoint.set_val(preserved_parameters['setpoint'])
-    s_kp.set_val(preserved_parameters['Kp'])
-    s_ki.set_val(preserved_parameters['Ki'])
-    s_kd.set_val(preserved_parameters['Kd'])
-    print("Algorithm reset")
-    time.sleep(1)  # Delay of 1 second after reset
-
-# Create reset button
-ax_reset = plt.axes([0.8, 0.02, 0.1, 0.05])
-btn_reset = Button(ax_reset, 'Reset')
-btn_reset.on_clicked(reset_algorithm)
-
-# Function to update Arduino with clamped control signal
-def update_arduino_control(control):
-    control_clamped = clamp(control, 0, 1000)
-    write_read(str(control_clamped))
-
-# Control loop
-while True:
-    feedback = float(write_read(str(pid.setpoint)))
-    feedback_clamped = clamp(feedback, 0, 1000)  # Clamp feedback value between 0 and 1000
-    control = pid(feedback_clamped)
-    update_arduino_control(control)
-    update_plot(feedback_clamped, control, pid.setpoint)
-
-# Keep plot open
-plt.show()
diff --git a/CODE/debug/motordriver/PID_autotune/PID_autotune.ino b/CODE/debug/motordriver/PID_autotune/PID_autotune.ino
deleted file mode 100644
index ab99c50..0000000
--- a/CODE/debug/motordriver/PID_autotune/PID_autotune.ino
+++ /dev/null
@@ -1,82 +0,0 @@
-int enA = 1;
-int enB = 2;
-int pwm1 = 3;
-int pwm2 = 4;
-int encoA = 5;
-int encoB = 6;
-
-int speed = 1; // speed 0-1000
-
-double sp = 0.00;
-double rpm = 0.00;
-volatile long encount = 0;
-unsigned long Ltime = 0;
-unsigned long Ctime = 0;
-unsigned long Ptime = 0;
-
-int mess;
-
-void setup() {
-  pinMode(enA, OUTPUT);
-  pinMode(enB, OUTPUT);
-  pinMode(pwm1, OUTPUT);
-  pinMode(pwm2, OUTPUT);
-
-  pinMode(encoA, INPUT_PULLUP);
-  pinMode(encoB, INPUT_PULLUP);
-
-  attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE);
-  attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE);
-
-  Serial.begin(115200);
-  Serial.setTimeout(1);
-}
-
-void encoderISR() {
-  encount++;
-}
-
-void readenc() {
-  Ctime = micros();
-  Ptime = Ctime - Ltime;
-  Ltime = Ctime;
-  rpm = (encount / 211.2) * (60000000.0 / Ptime);
-  /*Serial.print("RPM: ");
-  Serial.print(rpm);
-  Serial.print("    Sample period:");
-  Serial.print(Ptime);
-  Serial.print("ms, encoder count:");
-  Serial.println(encount);
-  */
-
-  encount = 0;
-}
-void resetenc(){
-  Ctime = micros();
-  Ltime = Ctime;
-  encount = 0;
-}
-
-void move(int sped) {
-  sp = abs(sped)*2.55;
-  analogWrite(enA, sp);
-  digitalWrite(enB, LOW);
-  if (sped < 0) {
-    //Serial.print("back ");
-    digitalWrite(pwm1, LOW);
-    digitalWrite(pwm2, HIGH);
-  } else {
-    //Serial.print("forward ");
-    digitalWrite(pwm1, HIGH);
-    digitalWrite(pwm2, LOW);
-  } 
-  //Serial.println(sp);
-}
-
-void loop() {
-  while (!Serial.available());
-  mess = Serial.readString().toInt();
-  move(mess);
-  readenc();
-  Serial.print(rpm);
-}
diff --git a/CODE/debug/motordriver/PID_autotune/man_test.py b/CODE/debug/motordriver/PID_autotune/man_test.py
deleted file mode 100644
index 52c84e3..0000000
--- a/CODE/debug/motordriver/PID_autotune/man_test.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import serial
-import time
-
-arduino = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=.1)
-
-def write_read(x):
-    arduino.write(bytes(x, 'utf-8'))
-    time.sleep(0.05)
-    data = arduino.readline()
-    return data
-
-while True:
-    num = input("Enter a number: ") # Taking input from user
-    value = write_read(num)
-    print(value) # printing the value
-