Updated examples for better encoder firmware

Author: ZodiusInfuser

examples/motors/driving_sequence.py

@@ -111,7 +111,7 @@ def sleep_until(end_time):
 
     # Capture the state of all the encoders
     for i in range(NUM_MOTORS):
-        captures[i] = board.encoders[i].capture(UPDATE_RATE)
+        captures[i] = board.encoders[i].capture()
 
     for i in range(NUM_MOTORS):
         # Calculate the acceleration to apply to the motor to move it closer to the velocity setpoint

examples/motors/position_control.py

@@ -76,7 +76,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Calculate how far along this movement to be
     percent_along = min(update / UPDATES_PER_MOVE, 1.0)

examples/motors/position_on_velocity_control.py

@@ -83,7 +83,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Calculate how far along this movement to be
     percent_along = min(update / UPDATES_PER_MOVE, 1.0)

examples/motors/position_wave.py

@@ -77,7 +77,7 @@ def sleep_until(end_time):
 
     # Capture the state of all the encoders
     for i in range(NUM_MOTORS):
-        captures[i] = board.encoders[i].capture(UPDATE_RATE)
+        captures[i] = board.encoders[i].capture()
 
     # Calculate how far along this movement to be
     percent_along = min(update / UPDATES_PER_MOVE, 1.0)

examples/motors/reactive_encoder.py

@@ -91,7 +91,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Get the current detent's centre angle
     detent_angle = (current_detent * DETENT_SIZE)

examples/motors/tuning/motor_profiler.py

@@ -17,7 +17,6 @@
 DUTY_STEPS = 100                        # How many duty cycle steps to sample the speed of
 SETTLE_TIME = 0.1                       # How long to wait after changing motor duty cycle
 CAPTURE_TIME = 0.2                      # How long to capture the motor's speed at each step
-SLEEP_STEP = 0.02                       # The time between taking counts during counting_sleep()
 
 # Create a new InventorHATMini and get a motor and encoder from it
 board = InventorHATMini(motor_gear_ratio=GEAR_RATIO, init_leds=False)
@@ -34,32 +33,23 @@
 enc.direction(DIRECTION)
 
 
-# The encoder needs to be read semi-regularly to avoid the chip's internal counter
-# from wrapping and giving us wrong speed measurements, so use this instead of time.sleep()
-def counting_sleep(duration):
-    start = time.monotonic()
-    while time.monotonic() - start < duration:
-        enc.count()  # We don't do anything with the returned count
-        time.sleep(SLEEP_STEP)
-
-
 # Function that performs a single profiling step
 def profile_at_duty(duty):
     # Set the motor to a new duty cycle and wait for it to settle
     if DIRECTION == 1:
         m.duty(0.0 - duty)
     else:
         m.duty(duty)
-    counting_sleep(SETTLE_TIME)
+    time.sleep(SETTLE_TIME)
 
     # Perform a dummy capture to clear the encoder
-    enc.capture(SETTLE_TIME)
+    enc.capture()
 
     # Wait for the capture time to pass
-    counting_sleep(CAPTURE_TIME)
+    time.sleep(CAPTURE_TIME)
 
     # Perform a capture and read the measured speed
-    capture = enc.capture(CAPTURE_TIME)
+    capture = enc.capture()
     measured_speed = capture.revolutions_per_second
 
     # These are some alternate speed measurements from the encoder

examples/motors/tuning/position_on_velocity_tuning.py

@@ -81,7 +81,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Calculate the velocity to move the motor closer to the position setpoint
     vel = pos_pid.calculate(capture.degrees, capture.degrees_per_second)

examples/motors/tuning/position_tuning.py

@@ -74,7 +74,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Calculate the velocity to move the motor closer to the position setpoint
     vel = pos_pid.calculate(capture.degrees, capture.degrees_per_second)

examples/motors/tuning/velocity_tuning.py

@@ -74,7 +74,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Calculate the acceleration to apply to the motor to move it closer to the velocity setpoint
     accel = vel_pid.calculate(capture.revolutions_per_second)

examples/motors/velocity_control.py

@@ -76,7 +76,7 @@ def sleep_until(end_time):
     start_time = time.monotonic()
 
     # Capture the state of the encoder
-    capture = enc.capture(UPDATE_RATE)
+    capture = enc.capture()
 
     # Calculate how far along this movement to be
     percent_along = min(update / UPDATES_PER_MOVE, 1.0)