Added more standard logging. Changed some variables.

# Conflicts:
#	control_functions.py

control_functions.py

@@ -4,16 +4,13 @@ from adafruit_servokit import ServoKit              # Servo libraries for PWM dr
 import adafruit_pcf8591.pcf8591 as PCF              # AD/DA converter board for potentiometer
 from adafruit_pcf8591.analog_in import AnalogIn     # Analogue in pin library
 from adafruit_pcf8591.analog_out import AnalogOut   # Analogue out pin library
-import adafruit_pcf8591 as pcf8591                  # AD/DA converter board for potentiometer
-import numpy as np                                  # Number handling
-import pandas as pd                                 # Data handling
-import matplotlib.pyplot as plt                     # Plotter handling
-from scipy.integrate import odeint                  # Integral calculations
 import statistics as st                             # Mean and median calculations
 import csv                                          # CSV handling
 from datetime import datetime                       # Date and time formatting
 import time                                         # Time formatting
 
+import main
+
 # Variables to control sensor
 TRIGGER_PIN = board.D4      # GPIO pin xx
 ECHO_PIN = board.D17        # GPIO pin xx
@@ -39,7 +36,7 @@ MAX_SAMPLES = 10
 PCF_VALUE = 65535
 POT_MAX = 65280
 POT_MIN = 256
-POT_INTERVAL = 0.1
+POT_INTERVAL = 0.01
 
 # Variables to assist PID calculations
 current_time: float = 0
@@ -64,7 +61,7 @@ def initial():
     ...
 
 # Write data to any of the logfiles
-def log_data(file_stamp: str, data_file: str, data_line: float, remark: str|None):
+def log_data(file_stamp: str, data_file: str, data_line: str, remark: str|None):
     log_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
 
     with open("pid-balancer_" + data_file + "_data_" + file_stamp + ".csv", "a") as data_file:
@@ -85,7 +82,7 @@ def read_distance_sensor(file_stamp):
                 distance: float = sonar.distance
                 if MIN_DISTANCE < distance < MAX_DISTANCE:
 
-                    log_data(file_stamp,"sensor", distance, None) if LOG else None
+                    log_data(file_stamp,"sensor", str(distance), None) if LOG else None
                     print("Distance: ", distance) if SCREEN else None
 
                     sample_array.append(distance)
@@ -103,16 +100,16 @@ def read_distance_sensor(file_stamp):
                     print(mean_timestamp) if SCREEN else None
 
                 else:
-                    log_data(file_stamp,"sensor", distance,"Ignored") if LOG and DEBUG else None
+                    log_data(file_stamp=file_stamp, data_file="sensor", data_line=str(distance), remark=None) if LOG else None
                     print("Distance: ", distance) if SCREEN else None
 
             except RuntimeError:
-                log_data(file_stamp, "sensor", 999.999, "Timeout") if LOG and DEBUG else None
+                log_data(file_stamp=file_stamp, data_file="sensor", data_line="999.999", remark="Timeout") if LOG and DEBUG else None
                 print("Timeout") if SCREEN else None
 
     return median_distance, mean_timestamp
 
-def read_setpoint():
+def read_setpoint(file_stamp):
 
     i2c = board.I2C()
     pcf = PCF.PCF8591(i2c)
@@ -121,28 +118,34 @@ def read_setpoint():
     pcf_out.value = PCF_VALUE
 
     while True:
-        raw_value: float = pcf_in_0.value
+        raw_value: int = pcf_in_0.value
         scaled_value: float = (raw_value / PCF_VALUE) * pcf_in_0.reference_voltage
         # Calculate angle in reference to raw pot values
-        angle: float = ((180 - 0) / (POT_MAX - POT_MIN)) * (raw_value - POT_MIN)
+        angle =  round(((180 - 0) / (POT_MAX - POT_MIN)) * (raw_value - POT_MIN),0)
+        log_line = str(scaled_value) + "," + str(raw_value) + "," + str(angle)
+        log_data(file_stamp=file_stamp, data_file="potmeter", data_line=log_line, remark=None) if LOG else None
 
         if SCREEN:
-            print('pin 0 ', pcf.read(0))
+            print('pin 0= ', pcf.read(0))
-            print('raw_value ',raw_value)
+            print('raw_value= ',raw_value)
-            print("pin 0: %0.2fV" % scaled_value)
+            print("pin 0= %0.2fV" % scaled_value)
+            print('Scaled= ' , scaled_value)
             print(angle)
 
         time.sleep(POT_INTERVAL)
-        send_data_to_servo(set_angle=angle)
+        send_servo_angle(set_angle=angle)
 
-def calculate_velocity():
+def calculate_velocity(file_stamp):
-    ...
 
-def pid_calculations(setpoint):
+    velocity = "0"
+    log_data(file_stamp=file_stamp, data_file="velocity", data_line=velocity, remark=None) if LOG else None
+
+
+def pid_calculations(file_stamp, setpoint):
 
     global i_result, previous_time, previous_error
     offset_value: int = 320
-    measurement, measurement_time = read_distance_sensor()
+    measurement, measurement_time = read_distance_sensor(file_stamp=main.file_stamp) # todo Check logging
     error: float = setpoint - measurement
     error_sum: float = 0.0
 
@@ -160,16 +163,15 @@ def pid_calculations(setpoint):
     previous_error = error
     previous_time = measurement_time
 
+    log_line = str(p_result) + "," + str(i_result) + "," + str(d_result) + "," + str(pid_result)
+    log_data(file_stamp=file_stamp, data_file="pid", data_line=log_line, remark=None) if LOG else None
     return pid_result
 
 
-def calculate_new_servo_position():
+def calculate_servo_position():
     ...
 
 
-def send_data_to_servo(set_angle):
+def send_servo_angle(set_angle):
 
     KIT.servo[0].angle = set_angle # Set angle
-
-read_distance_sensor(file_stamp=123)
-read_setpoint()

main.py

@@ -4,6 +4,8 @@ import control_functions as cf
 file_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%I%M')
 
 cf.read_distance_sensor(file_stamp)
+cf.read_setpoint(file_stamp)
+cf.send_servo_angle(file_stamp)
 
 
 

plotter_functions.py

@@ -1,5 +1,7 @@
-import pandas as pd
+import pandas as pd                                 # Data wrangling
-import matplotlib.pyplot as plt
+import numpy as np                                  # Number handling
+import matplotlib.pyplot as plt                     # Plotter handling
+from scipy.integrate import odeint                  # Integral calculations
 
 # Variables to control logging.
 LOG: bool = True            # Log data to files