Commented and cleaned code

SMorettini · May 18, 2020 · 89f0c2b · 89f0c2b
1 parent 1d806f6
commit 89f0c2b
Show file tree

Hide file tree

Showing 13 changed files with 177 additions and 130 deletions.
diff --git a/ADC_parallel/ADC_parallel.ino b/ADC_parallel/ADC_parallel.ino
@@ -1,3 +1,5 @@
+//Arduino code for acquire the analog signal from the current sensor and convert it in a digital signal
+
 int analogPin  = A0 ; //input pin (current measure)
 
 int pin0 = 2; //output pins
@@ -19,7 +21,7 @@ int val = 0 ;
 void setup ()
 {
   Serial.begin(9600); //check bitrate in function of desired measure frequency
-  pinMode(pin0,OUTPUT);  
+  pinMode(pin0,OUTPUT);
   pinMode(pin1,OUTPUT);
   pinMode(pin2,OUTPUT);
   pinMode(pin3,OUTPUT);
@@ -29,14 +31,14 @@ void setup ()
   pinMode(pin7,OUTPUT);
   pinMode(pin8,OUTPUT);
   pinMode(pin9,OUTPUT);
- 
+
 }
 
 int i=0;
-float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
-{
-  return (float)(x-in_min)*(out_max-out_min)/(in_max-in_min)+out_min;
-}
+//float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
+//{
+//  return (float)(x-in_min)*(out_max-out_min)/(in_max-in_min)+out_min;
+//}
 
 void loop ()
 {
@@ -47,9 +49,9 @@ void loop ()
   float voltage= val * (5.0 / 1023.0);
   //val=mapfloat(val, 0, 1023, 0, 5);
   Serial.println(String(voltage)+" V");
-  
+
   Serial.println(String(voltage-offset)+" V OffSetted");
-  
+
   //Sensitivity of the sensor: 625 mV/Ipn. Ipn = 50A, so the slope is 12.5 mV/A
   float current = (voltage-offset)/0.0125;
   Serial.println(String(current)+"A");
@@ -82,10 +84,10 @@ void loop ()
     Serial.println(bitRead(val,6));
     Serial.println(bitRead(val,7));
     Serial.println(bitRead(val,8));
-    Serial.println(bitRead(val,9)); 
+    Serial.println(bitRead(val,9));
   }
-  
+
   delay(20);
   i+=1;
-  
+
 }
diff --git a/Measurement.py b/Measurement.py
@@ -21,8 +21,6 @@
 _DEBUG_ENABLED_=False
 
 
-
-
 # Set the Hotkeys to get the event from the Keyboard
 global event
 event = "Still"
@@ -78,7 +76,9 @@ def setT(ev):
 
 
 class ADXL345:
-
+    '''
+    Class for acquisition of accelerometer signals.
+    '''
     address = None
 
     def __init__(self, address=0x53):
@@ -138,14 +138,15 @@ def getAxes(self, gforce=False):
 
         return {"x": x, "y": y, "z": z}
 
-#TODO:: If while(true) is used, after a while it crash
+#Main script
 if __name__ == "__main__":
     # if run directly we'll just create an instance of the class and output the current readings
     adxl345 = ADXL345()
     # Try to catch the Interrupt and close the file saving the results
     try:
         # Interval to update measures
         timeInterval = 0.020
+
         dimDer = 2
         dimStd = 10
         dimFilter = 10
@@ -200,6 +201,8 @@ def getAxes(self, gforce=False):
             values['currentOut'] = currentOut
 
             state=m.runOneStep(values)
+
+            ##Using to have nice plot for testing
             if(state=="Still_state"):
                 values["event"]=10
             elif(state=="Moving_state"):

diff --git a/Measurement_emoncms.py b/Measurement_emoncms.py
@@ -1,3 +1,11 @@
+'''
+This file contains a working variant of Measurement.py for storing the data on a web server
+in real time.
+
+It needs to be updated with the state machine and the new features evaluated using utils.py.
+Now for the detection of the state only a simple threshold method is used.
+'''
+
 import smbus
 from time import sleep,time
 import csv
@@ -123,7 +131,7 @@ def getAxes(self, gforce=False):
             axes['pitch'] = math.atan2(-1*axes['x'], math.sqrt(axes['y']*axes['y']+axes['z']*axes['z'])) * 180 / math.pi
 
             # Set initial data at first iteration
-            if(i==0): 
+            if(i==0):
                 x = axes['x']
                 y = axes['y']
                 z = axes['z']
@@ -141,7 +149,7 @@ def getAxes(self, gforce=False):
             Vx = Vx + timeInterval * x
             Vy = Vy + timeInterval * y
             Vz = Vz + timeInterval * z
-        
+
 
             # Check for the event [TODO] take into account also roll, pitch, mean, std, ...
             axes["event"] = 0#"WOW"
@@ -157,7 +165,7 @@ def getAxes(self, gforce=False):
             # Print to csv
             writer.writerow(axes.values())
 
-            # api-endpoint 
+            # api-endpoint
             if(i % 50 == 0):
                 date = time.time()
                 URL = "https://emoncms.org/input/post?node=1&time=" + str(date) +"&csv=" + "x:"+str(x) + "," + "y:"+str(y) + "," + "z:"+str(axes["z"]) + "," + "norm:"+str(axes["norm"]) + "," + "roll:"+str(axes["roll"]) + "," + "pitch:"+str(axes["pitch"]) + "," + "event:"+str(axes["event"].split(":")[-1]) + "&apikey=" + apikey
@@ -175,4 +183,3 @@ def getAxes(self, gforce=False):
         print("Exception: " + str(e))
     finally:
         f.close()
-
diff --git a/README.md b/README.md
@@ -1,28 +1,15 @@
 # Robotics Perception & Action Project 2019-20
 
-# NEW CLEANED REPOSITORY
-
 ## Group 14 - Safety Module
 
-* Session 10/12 : Connected MEMS to RaspberryPi. Data acquisition functioning correctly.
-	Future steps :
-	* Work on current transducer
-	* Setting up ADC with arduino
-	* Current tests with LFG and oscilloscope
-	* Implement threshold solution
-
-* Session 11/12:
-	* Added Threshold and data in the software
-	* Prepared the Arduino
-
-* Session 12/12 :  
-	* Projected the dashboard
-	* Prepare the current sensor
-
+Team members:
+- Boffo Marco
+- Morettini Simone
+- Rosales Pablo
+- Rousseau Thomas
 
 ## Setup
 
-
 ### Linux
 
 ```
@@ -41,21 +28,32 @@ Activate environment:
 Install dependencies
 `pip install -r ./requirements.txt`
 
-### IMPORTANT INFO
+Could be usefull follow this link https://www.raffaelechiatto.com/modificare-permessi-di-esecuzione-di-script-in-powershell/
 
-Rememeber to
+### Run Script
 
-git clone https://github.com/MesSem/RP-A_data.git
+By running the script Measurement.py the module will collects data, analyses them and uses the
+state machine to identify the different states.
 
-and to commit and push inside the folder RP-A_data
+```
+python Measurement.py name_file seconds (ex: python Measurement.py test_run_1 10)
+```
 
-### Run Script to collect Data
+The script will print the actual state in the terminal. For use this module inside a mobile robots, the print of the state should be changed. Depending on the design of the system can be establish that some pins become high depending on the state of the module.
 
-python Measurement.py name_file seconds (ex: python Measurement.py test_run_1 10)
+## Important info
 
+To leave this repository less heavy we put the data in another repository.
+Rememeber to
+```
+git clone https://github.com/MesSem/RP-A_data.git
+```
+and to commit and push inside the folder RP-A_data
 
-https://www.raffaelechiatto.com/modificare-permessi-di-esecuzione-di-script-in-powershell/
+for store new data and save on Github.
 
-#### To open and analyse the data DataAnalisys.ipynb
+### Open and analyse the data DataAnalisys.ipynb (it's in RP-A_data.git)
+```
 pip install notebook
 jupyter notebook
+```
diff --git a/STD&DrvTest.py b/STD&DrvTest.py
@@ -1,5 +1,9 @@
-# importing the requests library 
-import requests 
+'''
+Script used for testing standard deviation and derivative
+'''
+
+# importing the requests library
+import requests
 import random
 import time
 import pandas as pd
@@ -39,8 +43,8 @@
     values.update(row)
     values.update(utils.calculateSTD())
     values.update(utils.calculateDerivative())
-    
+
     writer.writerow(values.values())
 
 
-f.close()
+f.close()
diff --git a/digital_acquisition.py b/digital_acquisition.py
@@ -1,3 +1,5 @@
+'''This file contains the method to acquire the data of the current converted in digital by the Arduino'''
+
 import RPi.GPIO as GPIO
 import time
 import csv
@@ -17,47 +19,50 @@
 GPIO.setup(13, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) #arduino 2 corresponding to 2^0 pin
 GPIO.setup(19, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) #arduino 5
 
+'''Function to read the data received from the Arduino and to convert them in the corrisponding value in ampere'''
 def read_current():
     val = GPIO.input(17)+GPIO.input(27)*2**1+GPIO.input(22)*2**2+GPIO.input(10)*2**3+GPIO.input(9)*2**4+GPIO.input(11)*2**5+GPIO.input(5)*2**6+GPIO.input(6)*2**7+GPIO.input(13)*2**8+GPIO.input(19)*2**9
-    
+
     voltage = val * (5.0 / 1023.0)
 
     #Sensitivity of the sensor: 625 mV/Ipn. Ipn = 50A, so the slope is 12.5 mV/A
     offset = 2.455 # Biased sensor
     val = (voltage-offset)/0.0125
     return val
 
-def old_procedure():
-    try:
-        f = open("arduino.csv.txt", "w+")
-        writer = csv.writer(f)
-        head = ["value"]
-        writer.writerow(head)
-        while(True):
-            #print(GPIO.input(10))
-            # Get the value 
-            val = GPIO.input(17)+GPIO.input(27)*2**1+GPIO.input(22)*2**2+GPIO.input(10)*2**3+GPIO.input(9)*2**4+GPIO.input(11)*2**5+GPIO.input(5)*2**6+GPIO.input(6)*2**7+GPIO.input(13)*2**8+GPIO.input(19)*2**9
-            writer.writerow(str(val))
-            print(str(val))
-
-            if(DEBUG_MODE):
-                print(GPIO.input(17))
-                print(GPIO.input(27))
-                print(GPIO.input(22))
-                print(GPIO.input(10))
-                print(GPIO.input(9))
-                print(GPIO.input(11))
-                print(GPIO.input(5))
-                print(GPIO.input(6))
-                print(GPIO.input(13))
-                print(GPIO.input(19))
-
-
-            print()
-            time.sleep(1)
-    except KeyboardInterrupt as k:
-        print("Keyboard: " + str(k))
-    except Exception as e:
-        print("Exception: " + str(e))
-    finally:
-        f.close()
+
+#Old procedure used to test the data acquisition. Not used anymore'''
+# def old_procedure():
+#     try:
+#         f = open("arduino.csv.txt", "w+")
+#         writer = csv.writer(f)
+#         head = ["value"]
+#         writer.writerow(head)
+#         while(True):
+#             #print(GPIO.input(10))
+#             # Get the value
+#             val = GPIO.input(17)+GPIO.input(27)*2**1+GPIO.input(22)*2**2+GPIO.input(10)*2**3+GPIO.input(9)*2**4+GPIO.input(11)*2**5+GPIO.input(5)*2**6+GPIO.input(6)*2**7+GPIO.input(13)*2**8+GPIO.input(19)*2**9
+#             writer.writerow(str(val))
+#             print(str(val))
+#
+#             if(DEBUG_MODE):
+#                 print(GPIO.input(17))
+#                 print(GPIO.input(27))
+#                 print(GPIO.input(22))
+#                 print(GPIO.input(10))
+#                 print(GPIO.input(9))
+#                 print(GPIO.input(11))
+#                 print(GPIO.input(5))
+#                 print(GPIO.input(6))
+#                 print(GPIO.input(13))
+#                 print(GPIO.input(19))
+#
+#
+#             print()
+#             time.sleep(1)
+#     except KeyboardInterrupt as k:
+#         print("Keyboard: " + str(k))
+#     except Exception as e:
+#         print("Exception: " + str(e))
+#     finally:
+#         f.close()
diff --git a/emo.html b/emo.html
@@ -1,8 +1,10 @@
+<!-- Html code used for creating the dashboard on Emocms -->
+
 <div id="2" class="graph" style="position: absolute; margin: 0px; top: 60px; left: 0px; width: 840px; height: 540px;" graphid="17150">
 <iframe frameborder="0" scrolling="no" marginheight="0" marginwidth="0" src="/graph/embed&amp;graphid=17150" style="width: 840px; height: 540px;"></iframe>
 </div>
 <div id="6" class="dial" style="position: absolute; margin: 0px; top: 120px; left: 980px; width: 140px; height: 140px;" feedid="403366" max="4" scale="0" units_dropdown="__other" units="G" decimals="4" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed="">
 <canvas id="can-6" width="140" height="140"></canvas>
 <div id="can-6-tooltip-1"></div>
 <div id="can-6-tooltip-2"></div>
-</div><div id="7" class="heading-center" style="position: absolute; margin: 0px; top: 0px; left: 440px; width: 380px; height: 60px;"><h1><strong>Safety Module<strong></strong></strong></h1></div><div id="11" class="heading-center" style="position: absolute; margin: 0px; top: 140px; left: 860px; width: 100px; height: 100px;"><h1>X</h1></div><div id="12" class="heading-center" style="position: absolute; margin: 0px; top: 300px; left: 860px; width: 100px; height: 100px;"><h1>Y</h1></div><div id="13" class="heading-center" style="position: absolute; margin: 0px; top: 460px; left: 860px; width: 100px; height: 100px;"><h1>Z</h1></div><div id="14" class="dial" style="position: absolute; margin: 0px; top: 280px; left: 980px; width: 140px; height: 140px;" feedid="403367" max="4" scale="" units_dropdown="__other" units="G" decimals="4" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-14" width="140" height="140"></canvas><div id="can-14-tooltip-1"></div><div id="can-14-tooltip-2"></div></div><div id="15" class="dial" style="position: absolute; margin: 0px; top: 440px; left: 980px; width: 140px; height: 140px;" feedid="403368" max="4" scale="" units_dropdown="__other" units="G" decimals="4" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-15" width="140" height="140"></canvas><div id="can-15-tooltip-1"></div><div id="can-15-tooltip-2"></div></div><div id="17" class="graph" style="position: absolute; margin: 0px; top: 640px; left: 0px; width: 840px; height: 440px;" graphid="17160"><iframe frameborder="0" scrolling="no" marginheight="0" marginwidth="0" src="/graph/embed&amp;graphid=17160" style="width: 840px; height: 440px;"></iframe></div><div id="20" class="heading-center" style="position: absolute; margin: 0px; top: 720px; left: 870px; width: 100px; height: 90px;"><h1>Roll</h1></div><div id="21" class="dial" style="position: absolute; margin: 0px; top: 870px; left: 990px; width: 150px; height: 150px;" feedid="403371" max="180" scale="" units_dropdown="__other" units="°" decimals="-1" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-21" width="150" height="150"></canvas><div id="can-21-tooltip-1"></div><div id="can-21-tooltip-2"></div></div><div id="22" class="dial" style="position: absolute; margin: 0px; top: 690px; left: 990px; width: 150px; height: 160px;" feedid="403370" max="180" scale="" units_dropdown="__other" units="°" decimals="-1" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-22" width="150" height="160"></canvas><div id="can-22-tooltip-1"></div><div id="can-22-tooltip-2"></div></div><div id="23" class="heading-center" style="position: absolute; margin: 0px; top: 900px; left: 870px; width: 100px; height: 60px;"><h1>Pitch</h1></div>
+</div><div id="7" class="heading-center" style="position: absolute; margin: 0px; top: 0px; left: 440px; width: 380px; height: 60px;"><h1><strong>Safety Module<strong></strong></strong></h1></div><div id="11" class="heading-center" style="position: absolute; margin: 0px; top: 140px; left: 860px; width: 100px; height: 100px;"><h1>X</h1></div><div id="12" class="heading-center" style="position: absolute; margin: 0px; top: 300px; left: 860px; width: 100px; height: 100px;"><h1>Y</h1></div><div id="13" class="heading-center" style="position: absolute; margin: 0px; top: 460px; left: 860px; width: 100px; height: 100px;"><h1>Z</h1></div><div id="14" class="dial" style="position: absolute; margin: 0px; top: 280px; left: 980px; width: 140px; height: 140px;" feedid="403367" max="4" scale="" units_dropdown="__other" units="G" decimals="4" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-14" width="140" height="140"></canvas><div id="can-14-tooltip-1"></div><div id="can-14-tooltip-2"></div></div><div id="15" class="dial" style="position: absolute; margin: 0px; top: 440px; left: 980px; width: 140px; height: 140px;" feedid="403368" max="4" scale="" units_dropdown="__other" units="G" decimals="4" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-15" width="140" height="140"></canvas><div id="can-15-tooltip-1"></div><div id="can-15-tooltip-2"></div></div><div id="17" class="graph" style="position: absolute; margin: 0px; top: 640px; left: 0px; width: 840px; height: 440px;" graphid="17160"><iframe frameborder="0" scrolling="no" marginheight="0" marginwidth="0" src="/graph/embed&amp;graphid=17160" style="width: 840px; height: 440px;"></iframe></div><div id="20" class="heading-center" style="position: absolute; margin: 0px; top: 720px; left: 870px; width: 100px; height: 90px;"><h1>Roll</h1></div><div id="21" class="dial" style="position: absolute; margin: 0px; top: 870px; left: 990px; width: 150px; height: 150px;" feedid="403371" max="180" scale="" units_dropdown="__other" units="°" decimals="-1" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-21" width="150" height="150"></canvas><div id="can-21-tooltip-1"></div><div id="can-21-tooltip-2"></div></div><div id="22" class="dial" style="position: absolute; margin: 0px; top: 690px; left: 990px; width: 150px; height: 160px;" feedid="403370" max="180" scale="" units_dropdown="__other" units="°" decimals="-1" offset="" type="6" graduations="1" unitend="0" displayminmax="0" minvaluefeed="403366" maxvaluefeed="403366" timeout="" errormessagedisplayed=""><canvas id="can-22" width="150" height="160"></canvas><div id="can-22-tooltip-1"></div><div id="can-22-tooltip-2"></div></div><div id="23" class="heading-center" style="position: absolute; margin: 0px; top: 900px; left: 870px; width: 100px; height: 60px;"><h1>Pitch</h1></div>
diff --git a/emonCMS_MovingAverage.py b/emonCMS_MovingAverage.py
@@ -1,5 +1,7 @@
-# importing the requests library 
-import requests 
+'''Script used to test the upload of the data on emocms, a web service for storing and visualizing data in a dashboard'''
+
+# importing the requests library
+import requests
 import random
 import time
 import pandas as pd
@@ -20,7 +22,7 @@
 data = pd.read_csv("crash.csv")
 for index, row in data.iterrows():
     # Set initial data at first iteration
-    if((index < 100)): 
+    if((index < 100)):
         x.append(row['x'])
         y.append(row['y'])
         z.append(row['z'])
@@ -40,10 +42,10 @@
     pitch.pop()
     pitch.append(row['pitch'])
 
-    # api-endpoint 
+    # api-endpoint
     if(index % 100 == 0):
         timestamp = time.time() -2.5
-        
+
         print(timestamp)
 
         normA = np.asarray(norm)
@@ -66,8 +68,8 @@
 
         URL = "https://emoncms.org/input/post?node=2&time=" + str(timestamp) +"&csv=" + "x:"+str(xV) + "," + "y:"+str(yV) + "," + "z:"+str(zV) + "," + "norm:"+str(normV) + "," + "roll:"+str(rollV) + "," + "pitch:"+str(pitchV) + "," + "event:"+str(event) + "&apikey=" + apikey
 
-        # sending get request and saving the response as response object 
-        r = requests.get(url = URL) 
+        # sending get request and saving the response as response object
+        r = requests.get(url = URL)
 
     # Wait and update index
-    time.sleep(timeInterval)
+    time.sleep(timeInterval)