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tune.py
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tune.py
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from selfdrive.kegman_conf import kegman_conf
import subprocess
import os
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
letters = { "a":[ "###", "# #", "###", "# #", "# #"], "b":[ "###", "# #", "###", "# #", "###"], "c":[ "###", "#", "#", "#", "###"], "d":[ "##", "# #", "# #", "# #", "##"], "e":[ "###", "#", "###", "#", "###"], "f":[ "###", "#", "###", "#", "#"], "g":[ "###", "# #", "###", " #", "###"], "h":[ "# #", "# #", "###", "# #", "# #"], "i":[ "###", " #", " #", " #", "###"], "j":[ "###", " #", " #", " #", "##"], "k":[ "# #", "##", "#", "##", "# #"], "l":[ "#", "#", "#", "#", "###"], "m":[ "# #", "###", "###", "# #", "# #"], "n":[ "###", "# #", "# #", "# #", "# #"], "o":[ "###", "# #", "# #", "# #", "###"], "p":[ "###", "# #", "###", "#", "#"], "q":[ "###", "# #", "###", " #", " #"], "r":[ "###", "# #", "##", "# #", "# #"], "s":[ "###", "#", "###", " #", "###"], "t":[ "###", " #", " #", " #", " #"], "u":[ "# #", "# #", "# #", "# #", "###"], "v":[ "# #", "# #", "# #", "# #", " #"], "w":[ "# #", "# #", "# #", "###", "###"], "x":[ "# #", " #", " #", " #", "# #"], "y":[ "# #", "# #", "###", " #", "###"], "z":[ "###", " #", " #", "#", "###"], " ":[ " "], "1":[ " #", "##", " #", " #", "###"], "2":[ "###", " #", "###", "#", "###"], "3":[ "###", " #", "###", " #", "###"], "4":[ "#", "#", "# #", "###", " #"], "5":[ "###", "#", "###", " #", "###"], "6":[ "###", "#", "###", "# #", "###"], "7":[ "###", " # ", " #", " #", "#"], "8":[ "###", "# #", "###", "# #", "###"], "9":[ "###", "# #", "###", " #", "###"], "0":[ "###", "# #", "# #", "# #", "###"], "!":[ " # ", " # ", " # ", " ", " # "], "?":[ "###", " #", " ##", " ", " # "], ".":[ " ", " ", " ", " ", " # "], "]":[ " ", " ", " ", " #", " # "], "/":[ " #", " #", " # ", "# ", "# "], ":":[ " ", " # ", " ", " # ", " "], "@":[ "###", "# #", "## ", "# ", "###"], "'":[ " # ", " # ", " ", " ", " "], "#":[ " # ", "###", " # ", "###", " # "], "-":[ " ", " ","###"," "," "] }
# letters stolen from here: http://www.stuffaboutcode.com/2013/08/raspberry-pi-minecraft-twitter.html
def print_letters(text):
bigletters = []
for i in text:
bigletters.append(letters.get(i.lower(),letters[' ']))
output = ['']*5
for i in range(5):
for j in bigletters:
temp = ' '
try:
temp = j[i]
except:
pass
temp += ' '*(5-len(temp))
temp = temp.replace(' ',' ')
temp = temp.replace('#','@')
output[i] += temp
return '\n'.join(output)
import sys, termios, tty, os, time
def getch():
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
button_delay = 0.2
kegman = kegman_conf()
kegman.conf['tuneGernby'] = "1"
#kegman.write_config(kegman.conf)
param = ["Kp", "Ki", "Kf", "steerRatio", "sR_boost", "sR_BP0", \
"sR_BP1", "sR_time", "steerRateCost", "deadzone", "slowOnCurves", \
"1barBP0", "1barBP1", "1barMax", "2barBP0", "2barBP1", \
"2barMax", "3barBP0", "3barBP1", "3barMax", \
"1barHwy", "2barHwy", "3barHwy"]
j = 0
while True:
print ("")
print (print_letters(param[j][0:9]))
print ("")
print (print_letters(kegman.conf[param[j]]))
print ("")
print ("1,3,5,7,r to incr 0.1,0.05,0.01,0.001,0.00001")
print ("a,d,g,j,v to decr 0.1,0.05,0.01,0.001,0.00001")
print ("0 / L to make the value 0 / 1")
print ("press SPACE / m for next /prev parameter")
print ("press z to quit")
char = getch()
write_json = False
if (char == "v"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) - 0.00001),5))
write_json = True
if (char == "r"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) + 0.00001),5))
write_json = True
if (char == "7"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) + 0.001),5))
write_json = True
if (char == "5"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) + 0.01),5))
write_json = True
elif (char == "3"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) + 0.05),5))
write_json = True
elif (char == "1"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) + 0.1),5))
write_json = True
elif (char == "j"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) - 0.001),5))
write_json = True
elif (char == "g"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) - 0.01),5))
write_json = True
elif (char == "d"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) - 0.05),5))
write_json = True
elif (char == "a"):
kegman.conf[param[j]] = str(round((float(kegman.conf[param[j]]) - 0.1),5))
write_json = True
elif (char == "0"):
kegman.conf[param[j]] = "0"
write_json = True
elif (char == "l"):
kegman.conf[param[j]] = "1"
write_json = True
elif (char == " "):
if j < len(param) - 1:
j = j + 1
else:
j = 0
elif (char == "m"):
if j > 0:
j = j - 1
else:
j = len(param) - 1
elif (char == "z"):
process.kill()
break
if float(kegman.conf['tuneGernby']) != 1 and float(kegman.conf['tuneGernby']) != 0:
kegman.conf['tuneGernby'] = "1"
if float(kegman.conf['Ki']) < 0 and float(kegman.conf['Ki']) != -1:
kegman.conf['Ki'] = "0"
if float(kegman.conf['Ki']) > 2:
kegman.conf['Ki'] = "2"
if float(kegman.conf['Kp']) < 0 and float(kegman.conf['Kp']) != -1:
kegman.conf['Kp'] = "0"
if float(kegman.conf['Kp']) > 3:
kegman.conf['Kp'] = "3"
if kegman.conf['liveParams'] != "1" and kegman.conf['liveParams'] != "0":
kegman.conf['liveParams'] = "1"
if float(kegman.conf['steerRatio']) < 1 and float(kegman.conf['steerRatio']) != -1:
kegman.conf['steerRatio'] = "1"
if float(kegman.conf['steerRateCost']) < 0.01 and float(kegman.conf['steerRateCost']) != -1:
kegman.conf['steerRateCost'] = "0.01"
if float(kegman.conf['deadzone']) < 0:
kegman.conf['deadzone'] = "0"
if float(kegman.conf['1barBP0']) < -0.5:
kegman.conf['1barBP0'] = "-0.5"
if float(kegman.conf['1barBP0']) > 0.5:
kegman.conf['1barBP0'] = "0.5"
if float(kegman.conf['1barBP1']) < 0.5:
kegman.conf['1barBP1'] = "0.5"
if float(kegman.conf['1barBP1']) > 8:
kegman.conf['1barBP1'] = "8"
if float(kegman.conf['1barMax']) < 0.9:
kegman.conf['1barMax'] = "0.9"
if float(kegman.conf['1barMax']) > 2.5:
kegman.conf['1barMax'] = "2.5"
if float(kegman.conf['2barBP0']) < -0.5:
kegman.conf['2barBP0'] = "-0.5"
if float(kegman.conf['2barBP0']) > 0.5:
kegman.conf['2barBP0'] = "0.5"
if float(kegman.conf['2barBP1']) < 0.5:
kegman.conf['2barBP1'] = "0.5"
if float(kegman.conf['2barBP1']) > 8:
kegman.conf['2barBP1'] = "8"
if float(kegman.conf['2barMax']) < 1.3:
kegman.conf['2barMax'] = "1.3"
if float(kegman.conf['2barMax']) > 2.5:
kegman.conf['2barMax'] = "2.5"
if float(kegman.conf['3barBP0']) < -0.5:
kegman.conf['3barBP0'] = "-0.5"
if float(kegman.conf['3barBP0']) > 0.5:
kegman.conf['3barBP0'] = "0.5"
if float(kegman.conf['3barBP1']) < 0.5:
kegman.conf['3barBP1'] = "0.5"
if float(kegman.conf['3barBP1']) > 8:
kegman.conf['3barBP1'] = "8"
if float(kegman.conf['3barMax']) < 1.8:
kegman.conf['3barMax'] = "1.8"
if float(kegman.conf['3barMax']) > 2.5:
kegman.conf['3barMax'] = "2.5"
if float(kegman.conf['1barHwy']) < 0:
kegman.conf['1barHwy'] = "0"
if float(kegman.conf['2barHwy']) < 0:
kegman.conf['2barHwy'] = "0"
if float(kegman.conf['3barHwy']) < 0:
kegman.conf['3barHwy'] = "0"
if float(kegman.conf['1barHwy']) > 2:
kegman.conf['1barHwy'] = "2"
if float(kegman.conf['2barHwy']) > 2:
kegman.conf['2barHwy'] = "2"
if float(kegman.conf['3barHwy']) > 2:
kegman.conf['3barHwy'] = "2"
if float(kegman.conf['Kf']) > 0.01:
kegman.conf['Kf'] = "0.01"
if float(kegman.conf['Kf']) < 0:
kegman.conf['Kf'] = "0"
if float(kegman.conf['sR_boost']) < 0:
kegman.conf['sR_boost'] = "0"
if float(kegman.conf['sR_BP0']) < 0:
kegman.conf['sR_BP0'] = "0"
if float(kegman.conf['sR_BP1']) < 0:
kegman.conf['sR_BP1'] = "0"
if float(kegman.conf['sR_time']) < 1:
kegman.conf['sR_time'] = "1"
#if float(kegman.conf['Kf']) < 0.00001:
kegman.conf['Kf'] = str("{:.5f}".format(float(kegman.conf['Kf'])))
if float(kegman.conf['slowOnCurves']) > 0.00001:
kegman.conf['slowOnCurves'] = "1"
if float(kegman.conf['slowOnCurves']) <= 0.99999:
kegman.conf['slowOnCurves'] = "0"
if write_json:
kegman.write_config(kegman.conf)
time.sleep(button_delay)
else:
process.kill()