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This commit is contained in:
Ronaldson Bellande 2024-07-27 08:13:07 -04:00
parent 719fccee0b
commit d238011484
4 changed files with 122 additions and 1 deletions

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@ -37,6 +37,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
catkin_install_python(PROGRAMS
src/PIDController.py
src/BellandeController.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
@ -49,6 +50,7 @@ else()
install(PROGRAMS
src/PIDController.py
src/BellandeController.py
DESTINATION lib/${PROJECT_NAME}
)

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@ -18,7 +18,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
scripts=['src/PIDController.py'],
scripts=['src/PIDController.py', "src/BellandeController.py"],
packages=['humanoid_robot_intelligence_control_system_controller'],
package_dir={'': 'src'},
)

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@ -0,0 +1,69 @@
#!/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 os
import time
from typing import Tuple
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
import rospy
from std_msgs.msg import Float64
elif ros_version == "2":
import rclpy
from rclpy.node import Node
from std_msgs.msg import Float64
else:
raise ValueError("Invalid ROS version. Set ROS_VERSION environment variable to '1' or '2'.")
class BellandeController:
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()
if ros_version == "1":
rospy.init_node('bellande_controller', anonymous=True)
self.subscriber = rospy.Subscriber('control_output', Float64, self.callback)
elif ros_version == "2":
rclpy.init()
self.node = Node('bellande_controller')
self.subscriber = self.node.create_subscription(Float64, 'control_output', self.callback, 10)
def reset(self):
self.last_error = 0
self.integral = 0
self.last_time = time.time()
def update_config(self, gains: Tuple[float, float, float]):
self.kp, self.ki, self.kd = gains
def callback(self, msg):
print(f"Received control output: {msg.data}")
def run(self):
if ros_version == "1":
rospy.spin()
elif ros_version == "2":
rclpy.spin(self.node)
def shutdown(self):
if ros_version == "2":
self.node.destroy_node()
rclpy.shutdown()

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@ -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