byapparov / robot Goto Github PK

To track the angle MPU6050 with three axis gyroscope is used in this project.

Z axis provides Yaw velocity in degrees which will allow implementation of precise turning to a given number of degrees with velocity integrator and a PID controller.

Example of code that is required:

import robot # we also might rely on gpiozero, it is just an example. 
import yaw_control # this is the package that can contain PID for yaw

r  = robot()
# Turn robot left 60 degrees:
r.turn(60)

# Turn robot right 90 degrees
r.turn(90)

• Update readme
• Add gif or video demonstrating this works

Known challenges that need special attention:

• MPU6050 is not calibrated which means that measurements must be adjusted
• It is not clear how often signal should be read to get precise angle estimate
• There is about 0.5 d/s noise in the readings which might require kalman filter to be added

Sometimes gyro data is not read correctly and an error is coming from mpu6050 library:

Traceback (most recent call last):
  File "robot.py", line 53, in <module>
    turn(360.0)
  File "robot.py", line 26, in turn
    angles = gyroscope.update(sample_time)
  File "/home/pi/robot/src/gyro.py", line 40, in update
    gyro_data = self.sensor.get_gyro_data()
  File "/home/pi/.local/lib/python2.7/site-packages/mpu6050/mpu6050.py", line 213, in get_gyro_data
    z = self.read_i2c_word(self.GYRO_ZOUT0)
  File "/home/pi/.local/lib/python2.7/site-packages/mpu6050/mpu6050.py", line 71, in read_i2c_word
    high = self.bus.read_byte_data(self.address, register)
IOError: [Errno 121] Remote I/O error

Here I would like to have a simple way to measure the forward distance:

 # this should return distance to an obstacle in meters
distance  = robot.distance()

Desired input would be something like this:

# both parameters will be in meters
robot.move(
  x = 1.5, 
  y = 2
)