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Add primitive steer tuning script and json params (commaai#130)
* Pull Gernby tuning params into kegman.json & add cell phone Python tuner (commaai#126) * Add Gernby params to /data/kegman.json config file * Add Gernby params to JSON part 2 * Add Gernby "live" tuning thru /data/kegman.json * Fix missing " * == * float() * Add Gernby tuning Params into /data/kegman.json * Add Gernby live json tuning params to interface.py * Add tune.py and tune.sh primitive tuning script * Update planner.py (commaai#124) Improve Acceleration * Turn on tuneGernby to "1" when running tune.py * Fix kegman.conf for tuneGernby assignment * Write tuneGernby to JSON * Remove tuning code - cannot enable live from here * Extract live tuning params kegman_conf in latcontrol.py * Put live tune params into Latcontrol * self.live_tune call * remove e2front for now * Fix PL * don't pull from kegman.json every frame * mod 300 * mpc_frame init * Add KpV and KiV to live_tune * Update latcontrol.py * change tune vals to -1 to self-populate in latcontrol.py * add KpV and KiV * Update kegman_conf.py * Update kegman_conf.py * fix steerKf * write defaults to JSON * Update latcontrol.py * Update latcontrol.py * Update latcontrol.py * Change to Ki and Kp to avoid var conflict * Update kegman_conf.py * Fix retrieval of kegman json object in __init__ latcontrol.py * Fix quotes around "-1" values in JSON * Ki and Kp in tune.py instead of KiV and KpV * Comment out __init__ kegman_conf write troubleshoot * Update latcontrol.py * convert kP and kI into arrays? * Update latcontrol.py * convert array back into string before writing kP and kI * Round kI and kP to 2 decimal places * Press space for next, M for previous element, add 1 and 0 * Remap keys * Fix indent * Update tune.py * Update tune.py * d g j instead of e t u
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| from selfdrive.kegman_conf import kegman_conf | ||
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| 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 | ||
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| 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 | ||
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| def getch(): | ||
| fd = sys.stdin.fileno() | ||
| old_settings = termios.tcgetattr(fd) | ||
| try: | ||
| tty.setraw(sys.stdin.fileno()) | ||
| ch = sys.stdin.read(1) | ||
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| finally: | ||
| termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) | ||
| return ch | ||
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| button_delay = 0.2 | ||
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| kegman = kegman_conf() | ||
| #kegman.conf['tuneGernby'] = "1" | ||
| #kegman.write_config(kegman.conf) | ||
| param = ["tuneGernby", "react", "damp", "resist", "Kp", "Ki"] | ||
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| j = 0 | ||
| while True: | ||
| print "" | ||
| print "" | ||
| print print_letters(param[j]) | ||
| print "" | ||
| print print_letters(kegman.conf[param[j]]) | ||
| print "" | ||
| print ("Press 7, 5, 3 to increase by 0.1, 0.05, 0.01") | ||
| print ("press d, g, j to decrease by 0.1, 0.05, 0.01") | ||
| print ("press 0 to make the value 0") | ||
| print ("press 1 to make the value 1") | ||
| print ("press SPACE for next parameter") | ||
| print ("press m for previous parameter") | ||
| print ("press q to quit") | ||
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| char = getch() | ||
| if (char == "7"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.01) | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "5"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.05) | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "3"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.1) | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "j"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.01) | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "g"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.05) | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "d"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.1) | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "0"): | ||
| kegman.conf[param[j]] = "0" | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == "1"): | ||
| kegman.conf[param[j]] = "1" | ||
| kegman.write_config(kegman.conf) | ||
| time.sleep(button_delay) | ||
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| elif (char == " "): | ||
| if j < len(param) - 1: | ||
| j = j + 1 | ||
| else: | ||
| j = 0 | ||
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| elif (char == "m"): | ||
| if j > 0: | ||
| j = j - 1 | ||
| else: | ||
| j = len(param) - 1 | ||
|
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| elif (char == "q"): | ||
| break |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| python2.7 tune.py |