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Make minor formatting changes and add documentation for char codes

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This commit is contained in:
Dave Astels 2018-10-26 21:47:25 -04:00
parent eaf42b4360
commit 8285ff619e
1 changed files with 13 additions and 10 deletions
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23
BalanceBot/code.py
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@ -60,9 +60,11 @@ servo2.throttle = SERVO2_ZERO_ADJUST
def adjust(original, op, value): def adjust(original, op, value):
if op == 61: """Return an adjusted value based on the original, the operation,
and the supplied value"""
if op == 61: # =
return value return value
elif op == 43: elif op == 43: # +
return original + value return original + value
else: else:
return original - value return original - value
@ -82,14 +84,14 @@ def process_command(cmd, kp, ki, kd):
""" """
print(cmd[0]) print(cmd[0])
if cmd[0] == 63: if cmd[0] == 63: # ?
report(kp, ki, kd) report(kp, ki, kd)
elif cmd[0] not in [112, 105, 100]: elif cmd[0] not in [112, 105, 100]: # p/i/d
uart.write("Bad parameter\r\n") uart.write("Bad parameter\r\n")
elif len(cmd) > 1: elif len(cmd) > 1:
var = cmd[0] var = cmd[0]
op = cmd[1] # =/+/- op = cmd[1]
if op not in [61, 43, 45]: if op not in [61, 43, 45]: # =/+/-
uart.write("Bad operation\r\n") uart.write("Bad operation\r\n")
return (kp, ki, kd) return (kp, ki, kd)
@ -100,11 +102,11 @@ def process_command(cmd, kp, ki, kd):
uart.write("Bad value\r\n") uart.write("Bad value\r\n")
return (kp, ki, kd) return (kp, ki, kd)
if var == 112: if var == 112: # p
kp = adjust(kp, op, value) kp = adjust(kp, op, value)
elif var == 105: elif var == 105: # i
ki = adjust(ki, op, value) ki = adjust(ki, op, value)
else: else: # d
kd = adjust(kd, op, value) kd = adjust(kd, op, value)
report(kp, ki, kd) report(kp, ki, kd)
else: else:
@ -120,6 +122,7 @@ def limit(x):
Kp = 1.000 Kp = 1.000
Ki = 0.100 Ki = 0.100
Kd = 0.000 Kd = 0.000
iterm = 0.0 iterm = 0.0
dterm = 0.0 dterm = 0.0
@ -142,7 +145,7 @@ while True:
uart.write("command too long.. ignored\r\n") uart.write("command too long.. ignored\r\n")
else: else:
uart.write(ch) uart.write(ch)
if ch == b'\r': if ch == 13: # \r
if cmd_buffer_index > 0: if cmd_buffer_index > 0:
Kp, Ki, Kd = process_command(cmd_buffer[0:cmd_buffer_index], Kp, Ki, Kd) Kp, Ki, Kd = process_command(cmd_buffer[0:cmd_buffer_index], Kp, Ki, Kd)
cmd_buffer_index = 0 cmd_buffer_index = 0