Get Motor Speed from Parameter
Posted: Tue Oct 06, 2015 7:48 pm
Hi All,
I'm looking to be able to access the motor parameter values in a program that I am writing. In summary, I want to grab the x, y and z values of the gyroscope, and the 4 motor speeds and send them in real time to a web server for analysis. I've got the send to webserver part down and I am able to access the gryo values, but am having trouble with getting motor information.
Here's where I add the variables to my code...
Here's my JSON for those parameters...
When I do this the motor values just stay at 0. It should be noted that i'm using my computer with the crazyflie dongle for the program and my phone to fly it.
Any help would be greatly appreciated!
Full code for reference...
I'm looking to be able to access the motor parameter values in a program that I am writing. In summary, I want to grab the x, y and z values of the gyroscope, and the 4 motor speeds and send them in real time to a web server for analysis. I've got the send to webserver part down and I am able to access the gryo values, but am having trouble with getting motor information.
Here's where I add the variables to my code...
Code: Select all
self._lg_stab = LogConfig(name="Stabilizer", period_in_ms=10)
self._lg_stab.add_variable("gyro.x", "float")
self._lg_stab.add_variable("gyro.y", "float")
self._lg_stab.add_variable("gyro.z", "float")
self._lg_stab.add_variable("motor.m1", "int32_t")
self._lg_stab.add_variable("motor.m2", "int32_t")
self._lg_stab.add_variable("motor.m3", "int32_t")
self._lg_stab.add_variable("motor.m4", "int32_t")
Code: Select all
{
"logconfig": {
"logblock":
{"name": "Stabilizer", "period":20,
"variables": [
{"name":"gyro.x", "type":"TOC", "stored_as":"float", "fetch_as":"float"},
{"name":"gyro.y", "type":"TOC", "stored_as":"float", "fetch_as":"float"},
{"name":"gyro.z", "type":"TOC", "stored_as":"float", "fetch_as":"float"},
{"name":"motor.m1", "type":"TOC", "stored_as":"float", "fetch_as":"int32_t"},
{"name":"motor.m2", "type":"TOC", "stored_as":"float", "fetch_as":"int32_t"},
{"name":"motor.m3", "type":"TOC", "stored_as":"float", "fetch_as":"int32_t"},
{"name":"motor.m4", "type":"TOC", "stored_as":"float", "fetch_as":"int32_t"},
]}
}
}
Any help would be greatly appreciated!
Full code for reference...
Code: Select all
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2014 Bitcraze AB
#
# Crazyflie Nano Quadcopter Client
#
# 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 2
# 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, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
"""
Simple example that connects to the first Crazyflie found, logs the Stabilizer
and prints it to the console. After 10s the application disconnects and exits.
"""
import sys
sys.path.append("../lib")
import cflib.crtp
import logging
import time
from threading import Timer
import cflib.crtp
from cfclient.utils.logconfigreader import LogConfig
from cflib.crazyflie import Crazyflie
import requests
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
class LoggingExample:
"""
Simple logging example class that logs the Stabilizer from a supplied
link uri and disconnects after 5s.
"""
def __init__(self, link_uri):
""" Initialize and run the example with the specified link_uri """
# Create a Crazyflie object without specifying any cache dirs
self._cf = Crazyflie()
# Connect some callbacks from the Crazyflie API
self._cf.connected.add_callback(self._connected)
self._cf.disconnected.add_callback(self._disconnected)
self._cf.connection_failed.add_callback(self._connection_failed)
self._cf.connection_lost.add_callback(self._connection_lost)
print "Connecting to %s" % link_uri
# Try to connect to the Crazyflie
self._cf.open_link(link_uri)
# Variable used to keep main loop occupied until disconnect
self.is_connected = True
def _connected(self, link_uri):
""" This callback is called form the Crazyflie API when a Crazyflie
has been connected and the TOCs have been downloaded."""
print "Connected to %s" % link_uri
# The definition of the logconfig can be made before connecting
self._lg_stab = LogConfig(name="Stabilizer", period_in_ms=10)
self._lg_stab.add_variable("gyro.x", "float")
self._lg_stab.add_variable("gyro.y", "float")
self._lg_stab.add_variable("gyro.z", "float")
self._lg_stab.add_variable("motor.m1", "int32_t")
self._lg_stab.add_variable("motor.m2", "int32_t")
self._lg_stab.add_variable("motor.m3", "int32_t")
self._lg_stab.add_variable("motor.m4", "int32_t")
# Adding the configuration cannot be done until a Crazyflie is
# connected, since we need to check that the variables we
# would like to log are in the TOC.
self._cf.log.add_config(self._lg_stab)
if self._lg_stab.valid:
# This callback will receive the data
self._lg_stab.data_received_cb.add_callback(self._stab_log_data)
# This callback will be called on errors
self._lg_stab.error_cb.add_callback(self._stab_log_error)
# Start the logging
self._lg_stab.start()
else:
print("Could not add logconfig since some variables are not in TOC")
# Start a timer to disconnect in 10s
t = Timer(5, self._cf.close_link)
t.start()
def _stab_log_error(self, logconf, msg):
"""Callback from the log API when an error occurs"""
print "Error when logging %s: %s" % (logconf.name, msg)
def _stab_log_data(self, timestamp, data, logconf):
"""Callback froma the log API when data arrives"""
#ThingWorx connection information
server = 'http://acadev1.cloud.thingworx.com/Thingworx/Things/'
thing = 'MicroQuad_Thing'
servicecall = '/Services/GetString?method=put&'
appKey = 'appKey=4456a419-5b4d-4c8c-98a7-d88a1804f7ee'
session = '&x-thingworx-session=true&'
parameters = 'Data=' + str(data)
print parameters
r = requests.get(server + thing + servicecall + appKey + session + parameters)
print r
def _connection_failed(self, link_uri, msg):
"""Callback when connection initial connection fails (i.e no Crazyflie
at the speficied address)"""
print "Connection to %s failed: %s" % (link_uri, msg)
self.is_connected = False
def _connection_lost(self, link_uri, msg):
"""Callback when disconnected after a connection has been made (i.e
Crazyflie moves out of range)"""
print "Connection to %s lost: %s" % (link_uri, msg)
def _disconnected(self, link_uri):
"""Callback when the Crazyflie is disconnected (called in all cases)"""
print "Disconnected from %s" % link_uri
self.is_connected = False
if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
# Scan for Crazyflies and use the first one found
print "Scanning interfaces for Crazyflies..."
available = cflib.crtp.scan_interfaces()
print "Crazyflies found:"
for i in available:
print i[0]
if len(available) > 0:
le = LoggingExample(available[0][0])
else:
print "No Crazyflies found, cannot run example"
# The Crazyflie lib doesn't contain anything to keep the application alive,
# so this is where your application should do something. In our case we
# are just waiting until we are disconnected.
while le.is_connected:
time.sleep(1)
