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Roboter comments added

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This commit is contained in:
Luis Waldhauser 2023-06-06 11:28:24 +02:00
parent bd1daa0489
commit 445373a668
14 changed files with 132 additions and 96 deletions
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9
software/roboter/ev3/drive_arm.py
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@ -1,4 +1,13 @@
#!/usr/bin/env python3
"""
created by waldhauser
This file contains the programm to drive the arm back to middle
This file is needed for the color code drive operation
The plant where the robot is has to be passed as argument
"""
from ev3dev2.motor import Motor, OUTPUT_B, OUTPUT_C, SpeedPercent
import sys

11
software/roboter/ev3/drive_back.py
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@ -1,4 +1,13 @@
#!/usr/bin/env python3
"""
created by waldhauser
This file contains the programm to drive the arm back to middle and drive the robot back to home
This file is needed for the hard code driving operations
The plant where the robot is has to be passed as argument
"""
from ev3dev2.motor import Motor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor
from ev3dev2.sensor import INPUT_1, INPUT_4
@ -31,8 +40,6 @@ while True:
motorRight.on(SpeedPercent(-25))
break
sensorTouch.wait_for_pressed(timeout_ms=None, sleep_ms=10)
motorLeft.off()
motorRight.off()

10
software/roboter/ev3/drive_back_straight.py
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@ -1,4 +1,14 @@
#!/usr/bin/env python3
"""
created by waldhauser
This file contains the programm to drive the robot back to the starting position
This file is needed for the color code drive operation
No arguments are needed
The end is determined by the UltraSonic- and TouchSensor
"""
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_D, SpeedPercent
from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor
from ev3dev2.sensor import INPUT_1, INPUT_4

10
software/roboter/ev3/drive_plant.py
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@ -1,9 +1,11 @@
#!/usr/bin/env pybricks-micropython
'''
Script to drive robot to plant.
Plant number is passed as argument.
'''
"""
created by waldhauser
This file contians the programm to drive to a specific plant based on the color codes
The plant where the robot is has to be passed as argument
"""
from ev3dev2.motor import Motor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
from ev3dev2.sensor.lego import ColorSensor

65
software/roboter/ev3/drive_plant_gc.py
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@ -1,65 +0,0 @@
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
import sys
def fun_1(ev3):
pass
def fun_2(a,b):
return 1
def move_1(mo_forward_1, mo_forward_2, mo_le_ri, mo_up_down):
wait(2000)
#move forward
mo_forward_1.run_target(500, 1250,wait=False)
mo_forward_2.run_target(500, 1250)
#move arm
mo_le_ri.run_target(200,-50)
#move sensors
mo_up_down.run_target(500,2500)
wait(2000)
mo_up_down.run_target(500,0)
#move arm
mo_le_ri.run_target(200,0)
#move backwards
mo_forward_1.run_target(500, 0,wait=False)
mo_forward_2.run_target(500, 0)
def move_2():
pass
def move_3():
pass
ev3 = EV3Brick()
motor_forward_1 = Motor(Port.A)
motor_forward_2 = Motor(Port.D)
motor_le_ri = Motor(Port.B, Direction.COUNTERCLOCKWISE, [8, 56]) #with gear for angle
motor_up_down = Motor(Port.C)
#n = int(sys.argv[1])
#if n == 1:
move_1(motor_forward_1,motor_forward_2,motor_le_ri,motor_up_down)

6
software/roboter/ev3/plant_1.py
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@ -1,5 +1,11 @@
#!/usr/bin/env pybricks-micropython
"""
created by waldhauser
This file contians the programm to drive a specfic plant with a certain distance to drive
"""
from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
motorRight = LargeMotor(OUTPUT_A)

6
software/roboter/ev3/plant_2.py
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@ -1,5 +1,11 @@
#!/usr/bin/env pybricks-micropython
"""
created by waldhauser
This file contians the programm to drive a specfic plant with a certain distance to drive
"""
from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
motorRight = LargeMotor(OUTPUT_A)

6
software/roboter/ev3/plant_3.py
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@ -1,5 +1,11 @@
#!/usr/bin/env pybricks-micropython
"""
created by waldhauser
This file contians the programm to drive a specfic plant with a certain distance to drive
"""
from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
motorRight = LargeMotor(OUTPUT_A)

6
software/roboter/ev3/plant_4.py
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@ -1,5 +1,11 @@
#!/usr/bin/env pybricks-micropython
"""
created by waldhauser
This file contians the programm to drive a specfic plant with a certain distance to drive
"""
from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
motorRight = LargeMotor(OUTPUT_A)

6
software/roboter/ev3/plant_5.py
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@ -1,5 +1,11 @@
#!/usr/bin/env pybricks-micropython
"""
created by waldhauser
This file contians the programm to drive a specfic plant with a certain distance to drive
"""
from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
motorRight = LargeMotor(OUTPUT_A)

6
software/roboter/ev3/plant_6.py
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@ -1,5 +1,11 @@
#!/usr/bin/env pybricks-micropython
"""
created by waldhauser
This file contians the programm to drive a specfic plant with a certain distance to drive
"""
from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
motorRight = LargeMotor(OUTPUT_A)

46
software/roboter/raspy/functions.py
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@ -1,3 +1,10 @@
"""
created by waldhauser
This file contains the functions for the mainProg.py.
The functions are part of three groups, MQTT-callbacks, functions for external threads and one normal function.
"""
import paho.mqtt.client as mqtt
import json
import threading
@ -29,21 +36,27 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
sensorData["ActionID"] = actionID
client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4), qos=1)
#region Thread
# Functions to be executed in external Thread to not block the mainProg
# Functions contain the drive and sensor measurement operations
def drive_plant_thread(plantID, actionID, client: mqtt.Client):
"""
Function to drive to plant according to number from MQTT message in thread
Drive programm based on hardcoded drive programms specific for each plant
Only possible to drive to one plant per execution
Meassure and publish data via MQTT
Drive home to starting point
***If color codes are working properly this function is not needed anymore***
Args:
plantID (_type_): plant to measure
actionID (_type_): current ID of driving action
client (mqtt.Client): current mqtt client for publishing
"""
# FIXME Change to color code driving
errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
# errorCode = os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/drive_plant.py {plantID}')
if errorCode != 0:
if errorCode == 65280:
@ -84,12 +97,16 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
"""
Function to drive to plants according to numbers from MQTT message in thread
Function to drive to plants according to numbers from MQTT message in thread, one or more plants possible
PlantIDs have to be in ascending order
Drive programm based on color codes in the flowerbed
Meassure and publish data for all plants via MQTT
Drive home to starting point
***If color codes are working properly, only this function is needed for drive operations***
Args:
plantIDs (list): Plants to drive to
plantIDs (list): Plants to drive to, plants have to be in ascending order
actionID (_type_): ActionID from Backend for whole drive action
client (mqtt.Client): current MQTT client
"""
@ -118,6 +135,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
return
# Read Sensors and store data, take picture
logging.info("Measuring Sensors")
try:
sensordata = {}
@ -167,14 +185,19 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
logging.info("Robot home")
client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
#endregion
#region MQTT callbacks
# Functions to be called by the MQTT callbacks
# Starting the drive operations in threads or executing the small operations directly
def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
"""
Function to drive to plant according to request
Starting Drive in Thread to not block main programm
***If color codes are working properly this function is not needed anymore***
Args:
client (mqtt.Client): current mqtt client
userdata (_type_): _description_
@ -198,6 +221,8 @@ def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
Function to drive to plants according to request
Starting Drive in Thread to not block main programm
***If color codes are working properly, only this function is needed for drive operations***
Args:
client (mqtt.Client): current MQTT client
userdata (_type_): _description_
@ -214,11 +239,14 @@ def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
thread = threading.Thread(target= drive_plant_all_thread, args=(plantIDs, actionID, client), daemon=True)
thread.start()
def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
"""
Callback function for GPS position request
Function to send actual GPS position via MQTT in form of POSITION
***Not implemented, available GPS-sensor was not working***
Args:
client (mqtt.Client): current mqtt client
userdata (_type_): _description_
@ -237,7 +265,9 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
"""
Callback function for battery status request
Function to read battery status from ev3 and send via MQTT in form of BATTERY
Function to read battery status from EV3 and send via MQTT in form of BATTERY
Reading battery level via SSH script execution
Battery level shown in Volts:
8,5V -> 100%
5V -> 0%
@ -255,9 +285,9 @@ def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
client.publish(Topics["ROBOT_DATA_ERROR"], "Robot not connected", qos=1)
return
batteryLevel = round(batteryLevel / 1000000, 2) # Voltage
batteryLevel = round(batteryLevel / 1000000, 2) # Conversion to Volt
batteryLevel = batteryLevel - 5
batteryLevel = round(batteryLevel / 3.5, 3) *100 # Percentage
batteryLevel = round(batteryLevel / 3.5, 3) *100 # Conversion to Percentage, 8,5V -> 100%, 5V -> 0%
battery = {
"Battery": batteryLevel
@ -270,6 +300,8 @@ def sendPicture(client: mqtt.Client):
"""
Takes picture and publish via MQTT
***Pictures can not be send until now -> assumption of reaching maximum payload limit***
Args:
client (mqtt.Client): current mqtt client
"""

6
software/roboter/raspy/mainProg.py
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@ -1,12 +1,12 @@
"""
created by waldluis
created by waldlhauser
This file contains the main script for the RaspberryPi of smart garden project
It has the task to control the EV3 robot and take measurements with the mounted sensor
It has the task to control the EV3 robot and take measurements with the mounted sensors
The sensor data is published to MQTT topics to be available for the backend server
Used protocol for interaction: mqtt (paho-mqtt module)
Interaction with the EV3 via SSH
"""
"""
import paho.mqtt.client as mqtt
import functions

35
software/roboter/raspy/raspy_sensors.py
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@ -1,4 +1,11 @@
# from picamera import PiCamera
"""
created by waldhauser
This file contains the functions to read the sensors DHT22, TSL2561, earth humidity with MCP3008 ADC and RaspberryPi camera
Every sensor can be read on its own
Reading all sensors is possible with the readSensors() function and provides the data in the format of SENSORDATA dictionary
"""
import adafruit_dht
import adafruit_tsl2561
import board
@ -83,7 +90,6 @@ def readMCP3008():
percentage = round(((1100 - percentage) / 1100) *100, 2) # 680 -> 100% moisture, 1780 -> 0% moisture
if percentage > 100 or percentage < 0: # If not connected values above 100% appear
percentage = 0
raise Exception("YL69 not connected")
return percentage
@ -92,6 +98,7 @@ def readMCP3008():
def readSensors(sensorData):
"""
Read DHT22, TSL2561 and Humidity Sensor
Dictionary is passed to ensure that values are available when errors occur
Args:
sensorData (dictionary): Dictionary of type SENSORDATA
@ -107,25 +114,25 @@ def readSensors(sensorData):
try:
sensorData["AirTemperature"], sensorData["AirHumidity"] = readDHT22()
except Exception as e:
sensorData["AirHumidity"] = 0 # otherwise old value
sensorData["AirHumidity"] = 0 # No value returend if error occurs -> setting dummy value
sensorData["AirTemperature"] = 0
errorMessage = str(e) + "\n"
errorMessage = str(e) + "\n" # Appending received error message to later forward all occured errors
# read TSL2561
try:
sensorData["Brightness"] = readTSL2561()
except Exception as e:
sensorData["Brightness"] = 0 # otherwise old value
errorMessage = errorMessage + str(e) + "\n"
sensorData["Brightness"] = 0 # No value returend if error occurs -> setting dummy value
errorMessage = errorMessage + str(e) + "\n" # Appending received error message to later forward all occured errors
# read YL-69
try:
sensorData["SoilMoisture"] = readMCP3008()
except Exception as e:
sensorData["SoilMoisture"] = 0
errorMessage = errorMessage + str(e) + "\n"
sensorData["SoilMoisture"] = 0 # No value returend if error occurs -> setting dummy value
errorMessage = errorMessage + str(e) + "\n" # Appending received error message to later forward all occured errors
# combined error message
# raise combined error message
if errorMessage != "":
raise Exception(errorMessage)
@ -133,9 +140,8 @@ def readSensors(sensorData):
def takePicture():
"""
Take picture and return picture
Returns:
_type_: _description_
Take picture and store as "picture.png" in current folder
"""
try:
camera = PiCamera()
@ -146,14 +152,14 @@ def takePicture():
camera.capture("picture.png")
camera.stop_preview()
return
# TODO - read position with sensor
def readPosition():
"""
Read and return Position
***Not implemented, available GPS-sensor was not working***
Returns:
_type_: _description_
"""
@ -162,7 +168,6 @@ def readPosition():
# Testing
def main():
value = SENSORDATA
try: