Robot balancing program for EV3way-ET. This program made by Python.
You can see the self-balancing robot like segway in youtube.
https://www.youtube.com/watch?v=sKaeCxrSDG8
- Body: EV3Way-ET
- OS:ev3dev
- ev3dev-stretch-2019-03-03
- Python: 3.5.3
If your host OS is not linux, you should install vagrant. and then install debian-stretch into vm.
Host shell
$ vagrant up
$ vagrant ssh
You will use EV3dev developer tool, you must install docker.
vm shell
$ sudo apt-get remove docker docker-engine docker.io containerd runc
$ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt-get install \
apt-transport-https \
ca-certificates \
curl \
gnupg-agent \
software-properties-common
$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
$ sudo apt-key fingerprint 0EBFCD88
$ sudo add-apt-repository \
"deb [arch=amd64] https://download.docker.com/linux/ubuntu \
$(lsb_release -cs) \
stable"
$ sudo apt-get update
$ sudo apt-get install docker-ce docker-ce-cli containerd.io
Install brickstrap tool, then you will run qemu-armel container.
vm shell
$ sudo add-apt-repository ppa:ev3dev/tools
$ sudo apt update
$ sudo apt install brickstrap
Get the container for developing ev3dev.
vm shell
$ sudo docker pull ev3dev/ev3dev-jessie-ev3-generic
$ sudo docker tag ev3dev/ev3dev-jessie-ev3-generic ev3jg
Check the container behaviour.
vm shell
$ sudo docker run --rm -it ev3jg su -l robot
(optionnal) Manage Docker as a non-root user
vm shell
$ sudo groupadd docker
$ sudo usermod -aG docker $USER
Install cython package
$ sudo apt install cython3
Build cross build container
vm shell
$ docker pull yjono/ev3jcrs
$ docker tag yjono/ev3jcrs ev3jsrs
or
vm shell
$ docker build -t balan3er-for-ev3way-et/ev3jsrs .
$ docker tag balan3er-for-ev3way-et/ev3jsrs ev3jsrs
vm shell
make
Generate C source
vm shell
$ cython xxxx.pyx
Run the container for cross compile.
vm shell
$ docker run -it -v /host:/host ev3jcrs /bin/bash
$ docker run -it -v /host:/host ev3jsrs /bin/bash
or
host shell
$ docker run -it -v $HOME/src/github.com/ETRobocon2017-TeamD/balanc3r-for-ev3way-et:/host ev3jcrs /bin/bash
$ docker run -it -v $HOME/src/github.com/ETRobocon2017-TeamD/balanc3r-for-ev3way-et:/host ev3jsrs /bin/bash
ev3dev(jessie) python include dir
container shell
$ CFLAGS=$(arm-linux-gnueabi-python3-config --cflags) \
LDFLAGS=$(arm-linux-gnueabi-python3-config --ldflags) \
INCLUDES=$(arm-linux-gnueabi-python3-config --includes)
$ arm-linux-gnueabi-gcc ${INCLUDES} -c xxxx.c ${CFLAGS}
$ arm-linux-gnueabi-gcc xxxx.o -o xxxx.so -shared ${LDFLAGS}
In host shell, login your EV3Way-ET by ssh.
$ ssh username@xxx.xxx.xxx.xxxIn EV3(ev3dev) shell, Execute "ps lax" to find processes given "-20" nice value.
$ ps lax
F UID PID PPID PRI NI VSZ RSS WCHAN STAT TTY TIME COMMAND
4 0 1 0 20 0 23876 3640 - Ss ? 0:10 /sbin/init splash
1 0 2 0 20 0 0 0 - S ? 0:00 [kthreadd]
1 0 3 2 20 0 0 0 - S ? 0:01 [ksoftirqd/0]
1 0 4 2 20 0 0 0 - S ? 0:12 [kworker/0:0]
1 0 5 2 0 -20 0 0 - S< ? 0:00 [kworker/0:0H]
1 0 6 2 20 0 0 0 - S ? 0:02 [kworker/u2:0]
1 0 7 2 20 0 0 0 - S ? 0:01 [rcu_preempt]
1 0 8 2 20 0 0 0 - S ? 0:00 [rcu_sched]
1 0 9 2 20 0 0 0 - S ? 0:00 [rcu_bh]
5 0 10 2 20 0 0 0 - S ? 0:00 [kdevtmpfs]
1 0 11 2 0 -20 0 0 - S< ? 0:00 [netns]
1 0 12 2 0 -20 0 0 - S< ? 0:00 [writeback]
1 0 13 2 0 -20 0 0 - S< ? 0:00 [crypto]
1 0 14 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 15 2 0 -20 0 0 - S< ? 0:00 [kblockd]
1 0 16 2 20 0 0 0 - S ? 0:00 [kworker/0:1]
1 0 17 2 0 -20 0 0 - S< ? 0:00 [rpciod]
1 0 18 2 20 0 0 0 - S ? 0:01 [kswapd0]
1 0 19 2 20 0 0 0 - S ? 0:00 [fsnotify_mark]
1 0 20 2 0 -20 0 0 - S< ? 0:00 [nfsiod]
1 0 43 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 44 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 45 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 46 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 47 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 48 2 -51 - 0 0 - S ? 0:00 [irq/56-spi_davi]
1 0 49 2 20 0 0 0 - S ? 0:00 [spi1]
1 0 50 2 -51 - 0 0 - S ? 0:00 [irq/20-spi_davi]
1 0 51 2 20 0 0 0 - S ? 0:08 [spi0]
1 0 52 2 20 0 0 0 - D ? 0:01 [kworker/u2:1]
1 0 53 2 0 -20 0 0 - S< ? 0:00 [deferwq]
1 0 54 2 20 0 0 0 - S ? 0:03 [kworker/0:2]
1 0 55 2 20 0 0 0 - S ? 0:02 [kworker/u2:2]
1 0 56 2 0 -20 0 0 - S< ? 0:00 [bioset]
1 0 57 2 20 0 0 0 - S ? 0:02 [mmcqd/0]
1 0 58 2 20 0 0 0 - S ? 0:01 [kworker/0:3]
1 0 59 2 20 0 0 0 - S ? 0:00 [jbd2/mmcblk0p2-]
1 0 60 2 0 -20 0 0 - S< ? 0:00 [ext4-rsv-conver]
4 0 92 1 20 0 4044 1724 - Ss ? 0:00 /lib/systemd/systemd-journald
4 0 112 1 20 0 10844 2124 - Ss ? 0:01 /lib/systemd/systemd-udevd
1 0 206 2 0 -20 0 0 - S< ? 0:00 [cfg80211]
1 0 300 2 20 0 0 0 - S ? 0:00 [kworker/u2:3]
1 0 302 2 20 0 0 0 - S ? 0:00 [kworker/u2:4]
4 105 304 1 20 0 3844 2324 - Ss ? 0:00 avahi-daemon: running [ev3dev.local]
1 0 306 1 20 0 1760 548 - Ss ? 0:00 /usr/sbin/ldattach 29 /dev/tty_in4
1 0 307 1 20 0 1760 568 - Ss ? 0:00 /usr/sbin/ldattach 29 /dev/tty_in2
1 0 308 1 20 0 1760 524 - Ss ? 0:00 /usr/sbin/ldattach 29 /dev/tty_in3
4 0 315 1 20 0 3820 2244 - Ss ? 0:00 /lib/systemd/systemd-logind
1 0 316 2 0 -20 0 0 - S< ? 0:00 [kworker/u3:0]
1 0 317 2 0 -20 0 0 - S< ? 0:00 [hci0]
1 0 318 2 0 -20 0 0 - S< ? 0:00 [hci0]
1 0 319 2 0 -20 0 0 - S< ? 0:00 [kworker/u3:1]
1 0 320 2 0 -20 0 0 - S< ? 0:00 [kworker/u3:2]
4 104 322 1 20 0 5692 2408 - Ss ? 0:02 /usr/bin/dbus-daemon --system --address=systemd: --nofork --nopidfile --systemd-activatio
1 105 334 304 20 0 3844 1396 - S ? 0:00 avahi-daemon: chroot helper
1 0 335 1 10 -10 2008 596 - S< ? 0:00 /usr/bin/hciattach -t 30 /dev/ttyS2 texas 2000000 flow nosleep
4 0 385 1 20 0 5000 1960 - Ss ? 0:00 /usr/lib/bluetooth/bluetoothd
4 0 387 1 20 0 7916 3604 - Ss ? 0:02 /usr/sbin/connmand -n
1 0 390 2 0 -20 0 0 - S< ? 0:00 [kworker/0:1H]
4 0 391 1 20 0 7916 3968 - Ss ? 0:00 /usr/sbin/sshd -D
4 0 402 1 20 0 53584 4552 - Ssl+ tty1 0:07 /usr/sbin/brickman
4 0 407 1 20 0 7028 4324 - Ds ? 0:01 /sbin/wpa_supplicant -u -s -O /run/wpa_supplicant
5 106 520 1 20 0 5940 3016 - Ss ? 0:00 /usr/sbin/ntpd -p /var/run/ntpd.pid -g -u 106:110
1 0 526 2 20 0 0 0 - S ? 0:06 [kworker/0:4]
4 0 527 391 20 0 12172 5032 - Ss ? 0:02 sshd: robot [priv]
4 1000 537 1 20 0 4956 3288 SyS_ep Ss ? 0:00 /lib/systemd/systemd --user
5 1000 540 537 20 0 25240 1844 - S ? 0:00 (sd-pam)
5 1000 543 527 20 0 12172 3524 - S ? 0:00 sshd: robot@pts/0
0 1000 545 543 20 0 3576 2804 wait Ss pts/0 0:00 -bash
5 0 556 1 20 0 21024 4484 - Ss ? 0:00 /usr/sbin/nmbd -D
0 1000 586 545 20 0 2624 1404 - R+ pts/0 0:00 ps laxAnd execute "renice" for all displayed processes to give "0" nice value.
$ ps lax | grep -- [-]20 | awk '{print $3}' | xargs sudo renice 0 -p
[sudo] password for robot:
5 (process ID) old priority -20, new priority 0
11 (process ID) old priority -20, new priority 0
12 (process ID) old priority -20, new priority 0
13 (process ID) old priority -20, new priority 0
14 (process ID) old priority -20, new priority 0
15 (process ID) old priority -20, new priority 0
17 (process ID) old priority -20, new priority 0
20 (process ID) old priority -20, new priority 0
43 (process ID) old priority -20, new priority 0
44 (process ID) old priority -20, new priority 0
45 (process ID) old priority -20, new priority 0
46 (process ID) old priority -20, new priority 0
47 (process ID) old priority -20, new priority 0
53 (process ID) old priority -20, new priority 0
56 (process ID) old priority -20, new priority 0
60 (process ID) old priority -20, new priority 0
206 (process ID) old priority -20, new priority 0
316 (process ID) old priority -20, new priority 0
317 (process ID) old priority -20, new priority 0
318 (process ID) old priority -20, new priority 0
319 (process ID) old priority -20, new priority 0
320 (process ID) old priority -20, new priority 0
390 (process ID) old priority -20, new priority 0Then, Get this repository and execute "stop_deamons.sh".
$ git clone https://github.com/ETRobocon2017-TeamD/balanc3r-for-ev3way-et.git
$ cd balanc3r-for-ev3way-et
$ chmod 755 stop_daemons.sh
$ sudo ./stop_daemons.sh
[....] Stopping avahi-daemon (via systemctl): avahi-daemon.serviceWarning: Stopping avahi-daemon.service, but it can still be activated by:
avahi-daemon.socket
. okAfter, Execute "pistol.py" by "nice" command to give "-12" nice value.
$ sudo nice -n -13 python3 pistol.pyFind matplotlib, then write japanese fonts setting.
sudo apt install fonts-takao-pgothic fonts-takao-mincho$ pipenv shell
or
$ conda activate
$ python3>>> import matplotlib
>>> matplotlib.matplotlib_fname()$HOME/.local/share/virtualenvs/balanc3r-for-ev3way-et-9y2obqay/lib/python3.5/site-packages/matplotlib/mpl-data/matplotlibrc
$HOME/.local/share/virtualenvs/balanc3r-for-ev3way-et-SkxC7aZY/lib/python3.4/site-packages/matplotlib/mpl-data/fonts/ttf
if matplot>=3.1.0
font.serif : Noto Serif CJK JP, DejaVu Serif, Bitstream Vera Serif, Computer Modern Roman, New Century Schoolbook, Century Schoolbook L, Utopia, ITC Bookman, Bookman, Nimbus Roman No9 L, Times New Roman, Times, Palatino, Charter, serif
font.sans-serif : Noto Sans CJK JP, DejaVu Sans, Bitstream Vera Sans, Computer Modern Sans Serif, Lucida Grande, Verdana, Geneva, Lucid, Arial, Helvetica, Avant Garde, sans-serif
else matplot<3.1.0
font.serif : TakaoPMincho, DejaVu Serif, Bitstream Vera Serif, Computer Modern Roman, New Century Schoolbook, Century Schoolbook L, Utopia, ITC Bookman, Bookman, Nimbus Roman No9 L, Times New Roman, Times, Palatino, Charter, serif
font.sans-serif : TakaoPGothic, DejaVu Sans, Bitstream Vera Sans, Computer Modern Sans Serif, Lucida Grande, Verdana, Geneva, Lucid, Arial, Helvetica, Avant Garde, sans-serif
rm -rf ~/.cache/matplotlib/TODO: Write usage Jupyter, pandas, matplotlib.
- SC4050+ Integration Project: Balancing Robot
- NXTWay-GS(Self-Balancing Tow-Wheeled Robot) Controller Design
- ev3dev issue+ Tips to get a more constant loop time
- laurensvalk/segway
- ETrobocon/etroboEV3 (in Japanese)
- Linux超入門 (in Japanese)
- 制御のためのMATLAB (in Japanese)
- MATLAB/Simulinkによるやさしいシステム制御工学 (in Japanese)
- 倒立振子で学ぶ制御工学 (in Japanese)
We are grateful to The ETrobocon 2017 executive committee.
We want to thank segway author Laurens Valk, and ev3dev-lang-python developer Ralph Hempel and commiters.