latest pushes

humanoid_robot_intelligence_control_system_external_sensors/CMakeLists.txt

@@ -13,7 +13,7 @@
 # the License.
 
 cmake_minimum_required(VERSION 3.0.2)
-project(humanoid_robot_intelligence_control_system_controller)
+project(humanoid_robot_intelligence_control_system_external_sensors)
 
 if($ENV{ROS_VERSION} EQUAL 1)
   find_package(catkin REQUIRED COMPONENTS

humanoid_robot_intelligence_control_system_external_sensors/package.xml

@@ -16,10 +16,10 @@ the License.
 -->
 
 <package format="3">
-  <name>humanoid_robot_intelligence_control_system_controller</name>
+  <name>humanoid_robot_intelligence_control_system_external_sensors</name>
   <version>0.0.1</version>
   <description>
-    This Package is for Detection Math
+    This Package is for External Sensors
   </description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

humanoid_robot_intelligence_control_system_external_sensors/setup.py

@@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
     scripts=['src/PIDController.py'],
-    packages=['humanoid_robot_intelligence_control_system_controller'],
+    packages=['humanoid_robot_intelligence_control_system_external_sensors'],
     package_dir={'': 'src'},
 )
 

humanoid_robot_intelligence_control_system_internal_sensors/CMakeLists.txt

@@ -13,7 +13,7 @@
 # the License.
 
 cmake_minimum_required(VERSION 3.0.2)
-project(humanoid_robot_intelligence_control_system_controller)
+project(humanoid_robot_intelligence_control_system_internal_sensors)
 
 if($ENV{ROS_VERSION} EQUAL 1)
   find_package(catkin REQUIRED COMPONENTS

humanoid_robot_intelligence_control_system_internal_sensors/package.xml

@@ -16,10 +16,10 @@ the License.
 -->
 
 <package format="3">
-  <name>humanoid_robot_intelligence_control_system_controller</name>
+  <name>humanoid_robot_intelligence_control_system_internal_sensors</name>
   <version>0.0.1</version>
   <description>
-    This Package is for Detection Math
+    This Package is for Internal Sensors
   </description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

humanoid_robot_intelligence_control_system_internal_sensors/setup.py

@@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
     scripts=['src/PIDController.py'],
-    packages=['humanoid_robot_intelligence_control_system_controller'],
+    packages=['humanoid_robot_intelligence_control_system_internal_sensors'],
     package_dir={'': 'src'},
 )
 

humanoid_robot_intelligence_control_system_structure_sensors/CMakeLists.txt

@@ -0,0 +1,60 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# 
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+# 
+# http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+cmake_minimum_required(VERSION 3.0.2)
+project(humanoid_robot_intelligence_control_system_structure_sensors)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    rospy
+  )
+
+  catkin_package(
+    CATKIN_DEPENDS
+      rospy
+  )
+
+else()
+  find_package(ament_cmake REQUIRED)
+  find_package(ament_cmake_python REQUIRED)
+  find_package(rclpy REQUIRED)
+  find_package(std_msgs REQUIRED)
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_python_setup()
+
+  catkin_install_python(PROGRAMS
+    src/PIDController.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+  install(DIRECTORY config launch rviz
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+else()
+  ament_python_install_package(${PROJECT_NAME})
+
+  install(PROGRAMS
+    src/PIDController.py
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
+  install(DIRECTORY config launch rviz
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+  ament_package()
+endif()

humanoid_robot_intelligence_control_system_structure_sensors/package.xml

@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+
+<package format="3">
+  <name>humanoid_robot_intelligence_control_system_structure_sensors</name>
+  <version>0.0.1</version>
+  <description>
+    This Package is for Internal Sensors
+  </description>
+  <license>Apache 2.0</license>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
+
+  <!-- ROS 1 dependencies -->
+  <depend condition="$ROS_VERSION == 1">rospy</depend>
+
+  <!-- ROS 2 dependencies -->
+  <depend condition="$ROS_VERSION == 2">rclpy</depend>
+
+  <!-- Common dependencies -->
+  <depend>python3-opencv</depend>
+  <depend>python3-yaml</depend>
+  <depend>usb_cam</depend>
+
+  <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
+</package>

humanoid_robot_intelligence_control_system_structure_sensors/setup.py

@@ -0,0 +1,26 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    scripts=['src/PIDController.py'],
+    packages=['humanoid_robot_intelligence_control_system_structure_sensors'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

humanoid_robot_intelligence_control_system_structure_sensors/src/PIDController.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import time
+from typing import Dict, List, Tuple
+
+class PIDController:
+    def __init__(self, gains: Tuple[float, float, float], name: str, output_limits: Tuple[float, float] = (-float('inf'), float('inf'))):
+        self.kp, self.ki, self.kd = gains
+        self.name = name
+        self.output_limits = output_limits
+        self.reset()
+
+    def reset(self):
+        self.last_error = 0
+        self.integral = 0
+        self.last_time = time.time()
+
+    def compute(self, setpoint: float, process_variable: float) -> float:
+        current_time = time.time()
+        dt = current_time - self.last_time
+        error = setpoint - process_variable
+        
+        self.integral += error * dt
+        derivative = (error - self.last_error) / dt if dt > 0 else 0
+
+        output = self.kp * error + self.ki * self.integral + self.kd * derivative
+        output = max(min(output, self.output_limits[1]), self.output_limits[0])
+
+        self.last_error = error
+        self.last_time = current_time
+
+        return output
+
+    def update_config(self, gains: Tuple[float, float, float]):
+        self.kp, self.ki, self.kd = gains