From deb7f54bfb31021743d86b7b2daef4ece703150c Mon Sep 17 00:00:00 2001 From: musabe24 Date: Thu, 18 Jul 2024 09:56:56 +0200 Subject: [PATCH] LSP Kommunikation verbessert. --- Data.csv | 2889 +----------------------------------------------------- main.py | 64 +- 2 files changed, 61 insertions(+), 2892 deletions(-) diff --git a/Data.csv b/Data.csv index c275535..73eb0a5 100644 --- a/Data.csv +++ b/Data.csv @@ -1,2881 +1,8 @@ -Kp 0,110 -Ki 0,080 -Kd 0,000 -Zeit in s Winkel in Grad Sollwert in Nm Istwert in Nm Erregerspannung in V -0,040 0,000 10,000 0,394 0,000 -0,199 0,000 10,000 0,411 0,000 -0,361 0,000 10,000 0,459 0,000 -0,530 -0,018 10,000 0,551 0,000 -0,701 0,000 10,000 0,643 0,000 -0,861 0,000 10,000 0,745 0,000 -1,030 0,000 10,000 0,845 0,000 -1,191 0,018 10,000 0,969 0,000 -1,361 0,018 10,000 1,082 0,000 -1,530 0,054 10,000 1,195 7,054 -1,694 0,072 10,000 1,321 7,435 -1,861 0,090 10,000 1,439 7,759 -2,043 0,108 10,000 1,577 8,102 -2,214 0,126 10,000 1,744 8,457 -2,382 0,162 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8,981 13,486 -271,139 42,642 8,300 9,219 13,295 -271,313 42,480 8,000 9,301 13,060 -271,481 42,156 8,000 8,035 13,676 -271,649 42,120 8,000 8,159 13,765 -271,816 42,048 8,000 8,557 13,498 -271,989 41,850 7,700 8,240 13,251 -272,155 41,760 7,700 8,058 13,390 -272,329 41,670 7,700 8,191 13,302 -272,497 41,580 7,700 8,203 13,302 -272,662 41,472 7,400 8,281 13,206 -272,836 41,328 7,400 8,129 12,940 -273,005 41,184 7,400 7,911 13,092 -273,172 41,058 7,400 7,808 13,130 -273,339 40,968 7,100 7,850 13,111 -273,510 40,896 7,100 7,956 12,832 -273,678 40,716 7,100 7,718 12,813 -273,853 40,644 7,100 7,730 12,857 -274,023 40,518 7,100 7,712 12,768 -274,191 40,392 6,800 7,587 12,565 -274,363 40,266 6,800 7,468 12,597 -274,529 40,158 6,800 7,417 12,603 -274,698 40,104 6,800 7,555 12,578 -274,867 39,924 6,550 7,499 12,165 -275,044 39,744 6,550 7,088 12,476 -275,209 39,690 6,550 7,171 12,432 -275,378 39,582 6,550 7,289 12,298 -275,546 39,474 6,300 7,261 12,025 -275,721 39,312 6,300 7,115 12,025 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5,050 5,560 9,276 -285,765 32,688 5,050 5,511 9,257 -285,929 32,580 5,050 5,460 9,257 -286,100 32,454 5,100 5,362 9,314 -286,270 32,328 5,100 5,284 9,365 -286,442 32,220 5,100 5,257 9,384 -286,610 32,130 5,100 5,314 9,371 -286,779 32,040 5,100 5,339 9,333 -286,946 31,914 5,250 5,420 9,327 -287,116 31,824 5,250 5,431 9,314 -287,280 31,734 5,250 5,482 9,295 -287,450 31,626 5,250 5,494 9,238 -287,618 31,536 5,250 5,552 9,194 -287,786 31,410 5,400 5,518 9,283 -287,958 31,320 5,400 5,475 9,340 -288,124 31,194 5,400 5,451 9,321 -288,291 31,032 5,400 5,232 9,454 -288,459 30,888 5,550 5,024 9,695 -288,628 30,816 5,550 5,048 9,841 -288,797 30,708 5,550 5,219 9,733 -288,966 30,582 5,550 5,008 9,879 -289,133 30,510 5,550 5,193 9,879 -289,307 30,312 5,700 4,920 10,051 -289,474 30,240 5,700 4,914 10,235 -289,641 30,168 5,700 5,043 10,216 -289,811 30,060 5,700 5,178 10,108 -289,977 29,952 5,900 5,102 10,317 -290,146 29,880 5,900 5,196 10,375 -290,312 29,808 5,900 5,442 10,267 -290,483 29,700 5,900 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21,636 10,650 9,393 15,746 -464,117 21,636 10,650 9,401 15,746 -464,282 21,636 10,650 9,399 15,746 -464,458 21,636 10,650 9,385 15,746 -464,630 21,636 10,650 9,383 15,746 -464,804 21,636 10,650 9,396 15,746 -464,980 21,636 10,650 9,395 15,746 -465,147 21,636 10,650 9,396 15,746 -465,319 21,636 10,650 9,391 15,746 -465,491 21,636 10,650 9,391 15,746 -465,665 21,636 10,650 9,390 15,746 -465,836 21,636 10,650 9,392 15,746 -466,006 21,636 10,650 9,404 15,746 -466,178 21,636 10,650 9,410 15,746 -466,349 21,636 10,650 9,394 15,746 -466,529 21,636 10,650 9,382 15,746 -466,706 21,636 10,650 9,384 15,746 -466,878 21,636 10,650 9,398 15,746 -467,051 21,636 10,650 9,391 15,746 -467,220 21,636 10,650 9,389 15,746 -467,392 21,636 10,650 9,394 15,746 -467,564 21,636 10,650 9,395 15,746 -467,739 21,636 10,650 9,398 15,746 -467,916 21,636 10,650 9,386 15,746 -468,086 21,636 10,650 9,398 15,746 -468,256 21,636 10,650 9,396 15,746 -468,427 21,636 10,650 9,388 15,746 -468,605 21,636 10,650 9,384 15,746 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10,650 9,372 15,746 -478,389 21,636 10,650 9,369 15,746 -478,559 21,636 10,650 9,376 15,746 -478,731 21,636 10,650 9,374 15,746 -478,899 21,636 10,650 9,372 15,746 -479,068 21,636 10,650 9,382 15,746 -479,241 21,636 10,650 9,372 15,746 -479,413 21,636 10,650 9,377 15,746 -479,582 21,636 10,650 9,370 15,746 -479,752 21,636 10,650 9,379 15,746 -479,927 21,636 10,650 9,374 15,746 -480,106 21,636 10,650 9,381 15,746 -480,276 21,636 10,650 9,384 15,746 -480,445 21,636 10,650 9,384 15,746 -480,616 21,636 10,650 9,374 15,746 -480,784 21,636 10,650 9,377 15,746 -480,954 21,636 10,650 9,377 15,746 -481,126 21,636 10,650 9,387 15,746 -481,296 21,636 10,650 9,374 15,746 -481,466 21,636 10,650 9,370 15,746 -481,639 21,636 10,650 9,372 15,746 -481,807 21,636 10,650 9,369 15,746 -481,977 21,636 10,650 9,374 15,746 -482,149 21,636 10,650 9,371 15,746 -482,318 21,636 10,650 9,366 15,746 -482,489 21,636 10,650 9,369 15,746 -482,660 21,636 10,650 9,373 15,746 -482,831 21,636 10,650 9,376 15,746 -483,004 21,636 10,650 9,365 15,746 -483,172 21,636 10,650 9,374 15,746 -483,341 21,636 10,650 9,369 15,746 -483,511 21,636 10,650 9,372 15,746 -483,678 21,636 10,650 9,371 15,746 -483,846 21,636 10,650 9,375 15,746 -484,017 21,636 10,650 9,374 15,746 -484,186 21,636 10,650 9,373 15,746 -484,355 21,636 10,650 9,369 15,746 -484,526 21,636 10,650 9,380 15,746 -484,699 21,636 10,650 9,379 15,746 -484,865 21,636 10,650 9,378 15,746 -485,038 21,636 10,650 9,373 15,746 -485,207 21,636 10,650 9,376 15,746 -485,375 21,636 10,650 9,376 15,746 -485,543 21,636 10,650 9,375 15,746 -485,711 21,636 10,650 9,380 15,746 -485,881 21,636 10,650 9,364 15,746 -486,050 21,636 10,650 9,373 15,746 -486,222 21,636 10,650 9,370 15,746 -486,391 21,636 10,650 9,382 15,746 -486,561 21,636 10,650 9,387 15,746 -486,733 21,636 10,650 9,382 15,746 -486,905 21,636 10,650 9,370 15,746 -487,079 21,636 10,650 9,367 15,746 -487,250 21,636 10,650 9,372 15,746 -487,420 21,636 10,650 9,361 15,746 -487,586 21,636 10,650 9,372 15,746 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15,746 -492,515 21,636 10,650 9,363 15,746 -492,682 21,636 10,650 9,364 15,746 -492,853 21,636 10,650 9,372 15,746 -493,023 21,636 10,650 9,366 15,746 -493,193 21,636 10,650 9,373 15,746 -493,364 21,636 10,650 9,366 15,746 -493,533 21,636 10,650 9,361 15,746 -493,700 21,636 10,650 9,372 15,746 -493,870 21,636 10,650 9,366 15,746 -494,040 21,636 10,650 9,372 15,746 -494,215 21,636 10,650 9,370 15,746 -494,381 21,636 10,650 9,380 15,746 -494,549 21,636 10,650 9,372 15,746 -494,723 21,636 10,650 9,370 15,746 -494,893 21,636 10,650 9,372 15,746 -495,067 21,636 10,650 9,368 15,746 -495,235 21,636 10,650 9,360 15,746 -495,404 21,636 10,650 9,371 15,746 -495,577 21,636 10,650 9,370 15,746 -495,746 21,636 10,650 9,373 15,746 -495,915 21,636 10,650 9,374 15,746 -496,083 21,636 10,650 9,363 15,746 -496,256 21,636 10,650 9,371 15,746 -496,425 21,636 10,650 9,397 15,746 -496,603 21,636 10,650 9,397 15,746 -496,772 21,636 10,650 9,371 15,746 -496,945 21,636 10,650 9,374 15,746 -497,114 21,636 10,650 9,367 15,746 +Kp 0,110 +Ki 0,080 +Kd 0,000 +Zeit in s Winkel in Grad Sollwert in Nm Istwert in Nm Erregerspannung in V +0,200 4,032 0,000 0,692 0,000 +1,033 4,032 0,000 0,598 0,000 +1,897 4,032 0,000 0,655 0,000 +2,631 4,032 0,000 0,681 0,000 diff --git a/main.py b/main.py index d6a13bc..87ab95f 100644 --- a/main.py +++ b/main.py @@ -11,6 +11,7 @@ import threading import time import numpy as np import csv +import os class ArduinoGUI: def __init__(self, root): @@ -19,14 +20,7 @@ class ArduinoGUI: self.root.title("PRG 342 GUI") self.root.attributes('-fullscreen', True) # Setzt das Fenster in den Vollbildmodus - self.ser = serial.Serial( - port='/dev/serial0', - baudrate=192000, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - bytesize=serial.EIGHTBITS, - timeout=1 - ) + self.ser = None self.arduino = None self.ports = list(serial.tools.list_ports.comports()) @@ -169,6 +163,8 @@ class ArduinoGUI: self.current_angle = 0 self.current_torque = 0 self.analogInput = 0 + self.currentSetpoint = 0 + self.currentOutput = 0 self.angle_label_var = customtkinter.StringVar() self.angle_label_var.set("Drehwinkel: 0") @@ -252,6 +248,35 @@ class ArduinoGUI: messagebox.showerror("Fehler", str(e)) else: messagebox.showwarning("Warnung", "Bitte einen COM-Port auswählen") + + def connect_lsp(self): + try: + ports = serial.tools.list_ports.comports() + used_ports = [port.device for port in ports] + + serPort = None + + if os.name == 'nt': + for i in range(1, 257): + port = f'(COM{i}' + if (port not in used_ports) and (serPort == None): + serPort = port + else: + for i in range(256): + port = f'/dev/ttyS{i}' + if (port not in used_ports) and (serPort == None): + serPort = port + for i in range(256): + port = f'/dev/ttyUSB{i}' + if (port not in used_ports) and (serPort == None): + serPort = port + + if serPort != None: + self.ser = serial.Serial(serPort, 19200, timeout=1) + print(F"Slave Port bereit an {serPort}") + except Exception as e: + print(F"Fehler beim Öffnen des Slave Ports an {serPort}") + pass def set_setpoint(self): if self.arduino: @@ -419,10 +444,25 @@ class ArduinoGUI: def lsp_communication_loop(self): while self.running: - if self.ser: + if self.ser: if self.ser.in_waiting: - command = self.ser.readline - self.ser.write(command) + try: + command = self.ser.readline().decode(errors='ignore') + print(command) + if command == 'a': + message = f"{self.current_angle};{self.current_torque};{self.analogInput};{self.currentSetpoint};{self.currentOutput}\n" + self.ser.write(message.encode()) + while self.ser.out_waiting: + pass + except Exception as e: + print(e) + #self.ser.write(b'Hallo\n') + else : + try: + pass + self.connect_lsp() + except Exception as e: + print(e) def send_pid_parameters(self): @@ -444,6 +484,8 @@ class ArduinoGUI: self.running = False if self.arduino: self.arduino.close() + if self.ser: + self.ser.close() self.root.quit() self.root.destroy()