{
 "metadata": {
  "name": "",
  "signature": "sha256:0e44049e517ca08cfe86753d258a8eb7c4cef471df32f5c67c3d0774d65d2d13"
 },
 "nbformat": 3,
 "nbformat_minor": 0,
 "worksheets": [
  {
   "cells": [
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "<img src=\"http://mirageforum.com/forum/attachment.php?attachmentid=159&d=1370617142\">"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "back to [Index](index.ipynb)"
     ]
    },
    {
     "cell_type": "heading",
     "level": 1,
     "metadata": {},
     "source": [
      "linefollow_test"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "2014-07-26"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# Cross-notebook include shim\n",
      "with open(\"nbinclude.ipynb\") as nbinclude_f: # don't rename nbinclude_f\n",
      "    import IPython.nbformat.current\n",
      "    get_ipython().run_cell(IPython.nbformat.current.read(nbinclude_f, 'json').worksheets[0].cells[0].input)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 1
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "import sys, IPython, time"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 2
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "nbinclude('robot')"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 3
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r=Robot()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 4
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.enable()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 5
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(.2,.2)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 6
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 7
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "mbed=SerialRPC('/dev/ttyACM0', 115200)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 14
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "ains=[]\n",
      "for i in (p20,p19,p18,p17,p16,p15):\n",
      "#     AnalogIn(mbed, 'p{0}'.format(i))\n",
      "    a=AnalogIn(mbed, i)\n",
      "    print a.read()\n",
      "    ains.append(AnalogIn(mbed, i))"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "0.91355317831\n",
        "0.834432303905\n",
        "0.732356548309\n",
        "0.0500610545278\n",
        "0.0466422475874"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "0.0525030568242\n"
       ]
      }
     ],
     "prompt_number": 15
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "for ain in ains:\n",
      "    print ain.read()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "0.911843776703\n",
        "0.830525100231\n",
        "0.733089148998\n",
        "0.0495726540685\n",
        "0.0493284538388\n",
        "0.0566544607282\n"
       ]
      }
     ],
     "prompt_number": 16
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def read(ain): return ain.read()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 17
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def line_pos(ains):\n",
      "    vals=map(read, ains)\n",
      "    wsum=0\n",
      "    for i in range(len(vals)):\n",
      "        wsum+= (i+1.0)*vals[i]\n",
      "    return wsum/sum(vals)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 18
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "line_pos(ains)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 61,
       "text": [
        "2.4184905336223506"
       ]
      }
     ],
     "prompt_number": 61
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Lets measure the maximum controller frequency (bounded by the polling rate):"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "%timeit line_pos(ains)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "10 loops, best of 3: 32.7 ms per loop\n"
       ]
      }
     ],
     "prompt_number": 62
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "1000/32.7 "
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 63,
       "text": [
        "30.58103975535168"
       ]
      }
     ],
     "prompt_number": 63
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Apparently: we can run the control loop at 30hz."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "while True:\n",
      "    IPython.display.clear_output()\n",
      "    pos= line_pos(ains)\n",
      "    out=(3.0-pos)*.2\n",
      "    \n",
      "    print pos, out\n",
      "    r.cmd(.2-out, .2+out)\n",
      "    sys.stdout.flush()\n",
      "    time.sleep(.01)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "KeyboardInterrupt",
       "evalue": "",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-64-a335bf38ea49>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m      1\u001b[0m \u001b[1;32mwhile\u001b[0m \u001b[0mTrue\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      2\u001b[0m     \u001b[0mIPython\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mdisplay\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mclear_output\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 3\u001b[1;33m     \u001b[0mpos\u001b[0m\u001b[1;33m=\u001b[0m \u001b[0mline_pos\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mains\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      4\u001b[0m     \u001b[0mout\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m3.0\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mpos\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m.2\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      5\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m<ipython-input-18-910a08d3c41e>\u001b[0m in \u001b[0;36mline_pos\u001b[1;34m(ains)\u001b[0m\n\u001b[0;32m      1\u001b[0m \u001b[1;32mdef\u001b[0m \u001b[0mline_pos\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mains\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 2\u001b[1;33m     \u001b[0mvals\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mmap\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mread\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mains\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      3\u001b[0m     \u001b[0mwsum\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      4\u001b[0m     \u001b[1;32mfor\u001b[0m \u001b[0mi\u001b[0m \u001b[1;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mlen\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mvals\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      5\u001b[0m         \u001b[0mwsum\u001b[0m\u001b[1;33m+=\u001b[0m \u001b[1;33m(\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m+\u001b[0m\u001b[1;36m1.0\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m*\u001b[0m\u001b[0mvals\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m<ipython-input-17-0f96c652a2c2>\u001b[0m in \u001b[0;36mread\u001b[1;34m(ain)\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[1;32mdef\u001b[0m \u001b[0mread\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0main\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m \u001b[1;32mreturn\u001b[0m \u001b[0main\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mread\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[1;32m/home/ajc/topgear/odroid/topgear/python/mbedrpc.pyc\u001b[0m in \u001b[0;36mread\u001b[1;34m(self)\u001b[0m\n\u001b[0;32m    132\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    133\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mread\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 134\u001b[1;33m         \u001b[0mr\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mmbed\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mrpc\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;34m\"read\"\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m[\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    135\u001b[0m         \u001b[1;32mreturn\u001b[0m \u001b[0mfloat\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mr\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    136\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/home/ajc/topgear/odroid/topgear/python/mbedrpc.pyc\u001b[0m in \u001b[0;36mrpc\u001b[1;34m(self, name, method, args)\u001b[0m\n\u001b[0;32m     86\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mrpc\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mmethod\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0margs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     87\u001b[0m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mser\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m\"/\"\u001b[0m \u001b[1;33m+\u001b[0m \u001b[0mname\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\"/\"\u001b[0m \u001b[1;33m+\u001b[0m \u001b[0mmethod\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\" \"\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\" \"\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mjoin\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\"\\n\"\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 88\u001b[1;33m         \u001b[1;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mser\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mreadline\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mstrip\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     89\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     90\u001b[0m \u001b[1;32mclass\u001b[0m \u001b[0mHTTPRPC\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mmbed\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/usr/lib/python2.7/dist-packages/serial/serialposix.pyc\u001b[0m in \u001b[0;36mread\u001b[1;34m(self, size)\u001b[0m\n\u001b[0;32m    440\u001b[0m         \u001b[0mread\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mbytearray\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    441\u001b[0m         \u001b[1;32mwhile\u001b[0m \u001b[0mlen\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mread\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;33m<\u001b[0m \u001b[0msize\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 442\u001b[1;33m             \u001b[0mready\u001b[0m\u001b[1;33m,\u001b[0m\u001b[0m_\u001b[0m\u001b[1;33m,\u001b[0m\u001b[0m_\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mselect\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mselect\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mfd\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m_timeout\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    443\u001b[0m             \u001b[1;31m# If select was used with a timeout, and the timeout occurs, it\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    444\u001b[0m             \u001b[1;31m# returns with empty lists -> thus abort read operation.\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;31mKeyboardInterrupt\u001b[0m: "
       ]
      }
     ],
     "prompt_number": 64
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 94
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": []
    }
   ],
   "metadata": {}
  }
 ]
}