feat: created modules, logs and removed unuzed functions
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Pierre Tellier
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ed7915386d
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2
.gitignore
vendored
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2
.gitignore
vendored
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models
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__pycache__
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158
control.py
158
control.py
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import logging
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import math
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import numpy as np
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def sandbox(t):
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"""
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python simulator.py -m sandbox
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Un premier bac à sable pour faire des expériences
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La fonction reçoit le temps écoulé depuis le début (t) et retourne une position cible
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pour les angles des 12 moteurs
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- Entrée: t, le temps (secondes écoulées depuis le début)
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- Sortie: un tableau contenant les 12 positions angulaires cibles (radian) pour les moteurs
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"""
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# Par exemple, on envoie un mouvement sinusoidal
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targets = [0] * 12
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targets[0] = t ** 3
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targets[1] = 0
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targets[2] = 0
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targets[3] = t ** 3
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targets[4] = 0
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targets[5] = 0
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targets[6] = t ** 3
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targets[7] = 0
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targets[8] = 0
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targets[9] = t ** 3
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targets[10] = 0
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targets[11] = 0
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return targets
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def direct(alpha, beta, gamma):
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"""
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python simulator.py -m direct
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Le robot est figé en l'air, on ne contrôle qu'une patte
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Reçoit en argument la cible (alpha, beta, gamma) des degrés de liberté de la patte, et produit
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la position (x, y, z) atteinte par le bout de la patte
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- Sliders: les angles des trois moteurs (alpha, beta, gamma)
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- Entrées: alpha, beta, gamma, la cible (radians) des moteurs
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- Sortie: un tableau contenant la position atteinte par le bout de la patte (en mètres)
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"""
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return 0, 0, 0
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from math import *
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from logs import *
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from xbox import *
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import time
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# DEBUG
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LEGS_LOG_LEVEL = logging.INFO
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CONTROLLER_LOG_LEVEL = logging.INFO
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# Variables configurations
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l1h = 0.049
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l1v = 0.032
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l1 = l1h
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l1 = l1h # this is not the real distance as it's not the one needed to calculate position.
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# length between motor 2 and motor 3.
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l2h = 0.0605
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l2v = 0.02215
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l2 = sqrt(l2h ** 2 + l2v ** 2)
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# length between motor 3 and end of the leg.
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l3h = 0.012
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l3v = 0.093
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l3 = sqrt(l3h ** 2 + l3v ** 2)
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# offset of the 'head', the legs isolated at each end.
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tete_x = 0.095
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# offset of the legs at the side.
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patte_y = 0.032
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patte_x = 0.079
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num_patte = 6
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# Logs functions
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legsLogger = setup_logger("legs", LEGS_LOG_LEVEL)
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controllerLogger = setup_logger("Controller", CONTROLLER_LOG_LEVEL)
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# Initialize controller
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xbox = Xbox(controllerLogger)
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CONTROLLER_MODE = xbox.initialized
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def interpol2(point2, point1, t):
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x1, y1, z1 = point1
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x2, y2, z2 = point2
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return t * x1 + (1 - t) * x2, t * y1 + (1 - t) * y2, t * z1 + (1 - t) * z2
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def inverse(x, y, z):
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"""
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python simulator.py -m inverse
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Le robot est figé en l'air, on ne contrôle qu'une patte
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Reçoit en argument une position cible (x, y, z) pour le bout de la patte, et produit les angles
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(alpha, beta, gamma) pour que la patte atteigne cet objectif
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- Sliders: la position cible x, y, z du bout de la patte
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- Entrée: x, y, z, une position cible dans le repère de la patte (mètres), provenant du slider
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- Sortie: un tableau contenant les 3 positions angulaires cibles (en radians)
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"""
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# Dimensions (m)
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z += l1v
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@ -112,53 +80,9 @@ def inverse(x, y, z):
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# return [0, angle1 , angle1 -pi/2 + atan(l3h/l3v)]
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def draw(t):
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"""
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python simulator.py -m draw
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Le robot est figé en l'air, on ne contrôle qu'une patte
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Le but est, à partir du temps donné, de suivre une trajectoire de triangle. Pour ce faire, on
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utilisera une interpolation linéaire entre trois points, et la fonction inverse précédente.
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- Entrée: t, le temps (secondes écoulées depuis le début)
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- Sortie: un tableau contenant les 3 positions angulaires cibles (en radians)
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"""
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def interpol(x2, y2, z2, x1, y1, z1, t):
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return t * x1 + (1 - t) * x2, t * y1 + (1 - t) * y2, t * z1 + (1 - t) * z2
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p1 = [0.15, 0, 0]
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p2 = [0.1, 0.1, 0]
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p3 = [0.1, 0, 0.05]
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positions = [p1, p2, p3]
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ratio = (t % 1)
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partie = floor((t % 3))
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partie2 = (partie + 1) % 3
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# print(f"partie: {partie}, partie2: {partie2}")
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wanted_origin_x, wanted_origin_y, wanted_origin_z = positions[partie][0], positions[partie][1], positions[partie][
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2],
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wanted_dest_x, wanted_dest_y, wanted_dest_z = positions[partie2][0], positions[partie2][1], positions[partie2][2],
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# print(wanted_origin_x, wanted_origin_y, wanted_origin_z)
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# print(wanted_dest_x, wanted_dest_y, wanted_dest_z)
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# print(t)
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wanted_x, wanted_y, wanted_z = interpol(wanted_origin_x, wanted_origin_y, wanted_origin_z, wanted_dest_x,
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wanted_dest_y, wanted_dest_z, ratio)
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return inverse(wanted_x, wanted_y, wanted_z)
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def legs(targets_robot):
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"""
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python simulator.py -m legs
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Le robot est figé en l'air, on contrôle toute les pattes
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- Sliders: les 12 coordonnées (x, y, z) du bout des 4 pattes
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- Entrée: des positions cibles (tuples (x, y, z)) pour le bout des 4 pattes
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- Sortie: un tableau contenant les 12 positions angulaires cibles (radian) pour les moteurs
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takes a list of target and offsets it to be in the legs referential
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"""
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targets = [0] * 18
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@ -187,25 +111,13 @@ def legs(targets_robot):
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return targets
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def interpol2(point2, point1, t):
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x1, y1, z1 = point1
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x2, y2, z2 = point2
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return t * x1 + (1 - t) * x2, t * y1 + (1 - t) * y2, t * z1 + (1 - t) * z2
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def walkV1(t, speed_x, speed_y, speed_rotation):
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"""
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python simulator.py -m walk
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max_slider = 0.200
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xboxdata = xbox.get_data()
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print(xboxdata)
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speed_x = max_slider * xboxdata["x1"]
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speed_y = max_slider * xboxdata["y1"]
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Le but est d'intégrer tout ce que nous avons vu ici pour faire marcher le robot
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- Sliders: speed_x, speed_y, speed_rotation, la vitesse cible du robot
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- Entrée: t, le temps (secondes écoulées depuis le début)
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speed_x, speed_y, et speed_rotation, vitesses cibles contrôlées par les sliders
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- Sortie: un tableau contenant les 12 positions angulaires cibles (radian) pour les moteurs
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"""
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# t = t*speed_x * 20
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num_patte = 6
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slider_max = 0.200
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neutral_position = np.array([
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47
logs.py
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47
logs.py
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import logging
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class ColorFormatter(logging.Formatter):
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"""Custom formatter with colored output based on log level"""
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# ANSI color codes
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GREY = "\x1b[38;21m"
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GREEN = "\x1b[92m"
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YELLOW = "\x1b[93m"
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RED = "\x1b[91m"
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BOLD_RED = "\x1b[31;1m"
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RESET = "\x1b[0m"
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# Format including function name
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FORMAT = "%(asctime)s | %(funcName)s | %(message)s"
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FORMATS = {
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logging.DEBUG: GREY + FORMAT + RESET,
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logging.INFO: GREEN + FORMAT + RESET,
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logging.WARNING: YELLOW + FORMAT + RESET,
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logging.ERROR: RED + FORMAT + RESET,
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logging.CRITICAL: BOLD_RED + FORMAT + RESET
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}
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def format(self, record):
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log_format = self.FORMATS.get(record.levelno)
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formatter = logging.Formatter(log_format)
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return formatter.format(record)
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def setup_logger(name, level=logging.INFO):
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"""Set up a logger with the custom color formatter"""
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logger = logging.getLogger(name)
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logger.setLevel(level)
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# Create console handler
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console_handler = logging.StreamHandler()
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console_handler.setLevel(level)
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# Add formatter to console handler
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console_handler.setFormatter(ColorFormatter())
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# Add console handler to logger
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logger.addHandler(console_handler)
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return logger
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50
xbox.py
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50
xbox.py
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import pygame
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class Xbox:
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def __init__(self, controllerLogger):
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pygame.init()
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self.controllers = []
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for i in range(0, pygame.joystick.get_count()):
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self.controllers.append(pygame.joystick.Joystick(i))
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self.controllers[-1].init()
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controllerLogger.info(f"Detected controller {self.controllers[-1].get_name()}")
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if len(self.controllers) == 0:
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controllerLogger.critical("No controllers detected. Can't initialize remote control.")
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self.initialized = True
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else:
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self.initialized = False
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self.data = {"x1": 0, "x2": 0, "y1": 0, "y2": 0, "up": 0, "down": 0, "left": 0, "right": 0, "r1": 0, "r2": 0,
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"r3": 0,
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"l1": 0, "l2": 0, "l3": 0}
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def get_data(self):
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for event in pygame.event.get():
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event = dict(event.dict)
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keys = event.keys()
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try:
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if "axis" in keys:
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axis = event["axis"]
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if axis in [1, 4]:
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value = -event["value"]
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if abs(value) < 0.1:
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value = 0
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self.data[{0: "x1", 1: "y1", 4: "y2", 3: "x2", 5: "r2", 2: "l2"}[event["axis"]]] = value
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else:
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value = event["value"]
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if abs(value) < 0.1:
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value = 0
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self.data[{0: "x1", 1: "y1", 4: "y2", 3: "x2", 5: "r2", 2: "l2"}[event["axis"]]] = value
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elif "button" in keys:
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# TODO
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pass
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else:
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print(event)
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except Exception as e:
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print(event)
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print(e)
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return self.data
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