How to use _wheel method in tox

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PowertrainClass2.py

Source:PowertrainClass2.py Github

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1#!/usr/bin/python32###############################3### IMPORT LIBRARIES ###4###############################5from AxleClass import AxleClass6from BatteryClass import BatteryClass7from BatteryManagementClass import BatteryManagementClass8from ControllerClass import ControllerClass9from EscClass import ESC10from MotorClass import MotorClass11from WheelClass import WheelClass12from statistics import mean13class PowertrainControllerClass(object):14 '''Electric vehicle powertrain class'''15 _axle = None16 _bms = None17 _esc = None18 _motor = None19 _wheel = [ None, None, None, None ]20 _ctrl_speed = None21 _ctrl_motor = None22 _ctrl_brake = None23 _speed_set = None24 _speed_now = None25 _mode = None26 _car_mass = None27 ###############################28 ### INITIALISATION ###29 ###############################30 def __init__(self, kwargs):31 kwargs.update(dict(i_max_charge=(kwargs.get('batt_p_max')*0.5/kwargs.get('batt_v_min')),32 i_max_discharge=kwargs.get('batt_i_max'),33 p_max=kwargs.get('batt_p_max'),34 batt_kwh=kwargs.get('batt_kwh'),35 v_min=kwargs.get('batt_v_min'),36 v_max=kwargs.get('batt_v_max'),37 ))38 self._axle = AxleClass()39 self._battery = BatteryClass(kwargs)40 self._bms = BatteryManagementClass(kwargs)41 self._esc = ESC(kwargs)42 self._motor = MotorClass(kwargs)43 self._wheel = [ WheelClass(kwargs), # FL44 WheelClass(kwargs), # FR45 WheelClass(kwargs), # RL46 WheelClass(kwargs) ] # RR47 self._ctrl_speed = ControllerClass(50, 5, -0.8, "signed")48 self._ctrl_motor = ControllerClass(2, 0, -0.075, "unsigned")49 self._ctrl_brake = ControllerClass(1, 0, -0.075, "unsigned")50 self._speed_target = 0.051 self._speed = 0.052 self._car_mass = kwargs.get('car_mass')53 self._bms.set_battery_data(self._battery.battery_data)54 self._esc.set_input_power(self._bms.availability)55 ###############################56 ### UPDATE LOOP ###57 ###############################58 def update(self, dt):59 # Get wheel speeds and torques, pass to axle then motor60 #self._axle.wheel_data = [ self._wheel[0].rotational_data, self._wheel[1].rotational_data ]61 #self._motor.rotational_data = self._axle.shaft_data.rotational_data62 # Get battery availability, pass to BMS & ESC63 self._bms.set_battery_data(self._battery.battery_data)64 65 # Parse control signal from speed controller66 self._parse_control_signal(dt)67 68 # Send motor control signal to ESC69 self._esc.control_signal = self._ctrl_motor.value70 self._esc.set_input_power(self._bms.availability)71 # Send brake control signal to wheels72 for ptr in self._wheel:73 ptr.brake_control_sig = self._ctrl_brake.value74 # Give (or receive) electricity to (or from) motor75 self._motor.set_electricity(self._esc.voltage, self._esc.current)76 # Calculate voltage boost in ESC to charge battery if in regen77 self._bms.current = self._esc.current78 self._battery.current = self._bms.current79 # Update axle torque and speed, pass to drive wheels80 self._motor.update(dt)81 self._axle.shaft_data = self._motor.rotational_data82 self._axle.update(dt)83 self._wheel[0].axle_data = self._axle.wheel_data[0].rotational_data84 self._wheel[1].axle_data = self._axle.wheel_data[1].rotational_data85 for ptr in self._wheel:86 ptr.update(dt)87 # Update time dependancies (energy calcs)88 self._battery.update(dt)89 self._bms.update(dt)90 self._esc.update(dt)91 ###############################92 ### CONTROL DECODER ###93 ############################### 94 def _parse_control_signal(self, dt):95 dv = self.target_speed - self.vehicle_speed96 self._ctrl_speed.update(dt, dv)97 mode = 0.098 if self._ctrl_speed.value <= 0.0:99 # Trying to decelerate100 self._ctrl_motor.update(dt, self._ctrl_speed.value)101 if self._ctrl_motor.at_minimum:102 # Motor fully off or in full regen, apply brakes103 self._ctrl_brake.update(dt, -1.0*self._ctrl_speed.value)104 mode = 1.0105 else:106 # In regen or coasting, no brakes applied107 self._ctrl_brake.reset()108 self._ctrl_brake.update(dt)109 mode = 2.0110 else:111 # Trying to accelerate112 self._ctrl_brake.update(dt, -1.0*self._ctrl_speed.value)113 if self._ctrl_brake.at_minimum:114 # Brake fully off, power motor115 self._ctrl_motor.update(dt, self._ctrl_speed.value)116 mode = 3.0117 else:118 # Brake on but trying to speed up119 self._ctrl_motor.update(dt)120 mode = 4.0121 self._mode = mode122 if self.target_speed <=0.01 and self.vehicle_speed <=0.01:123 self._ctrl_speed.anti_wind_up()124 self._ctrl_motor.anti_wind_up()125 self._ctrl_brake.anti_wind_up()126 ###############################127 ### GETTERS ###128 ###############################129 # Actual vehicle speed130 @property131 def vehicle_speed(self):132 return self._speed133 # Target speed134 @property135 def target_speed(self):136 return self._speed_target137 # Road Friction Drag138 @property139 def road_drag(self):140 return sum(ptr.road_drag for ptr in self._wheel)141 # Powertrain Force142 @property143 def force(self):144 return sum(ptr.force for ptr in self._wheel)145 # Speed Controller PID146 @property147 def speed_ctrl_error(self):148 return self._ctrl_speed.value149 @property150 def speed_ctrl_pid(self):151 return self._ctrl_speed.pid_data152 # Motor Controller PID153 @property154 def motor_ctrl_error(self):155 return self._ctrl_motor.value156 @property157 def motor_ctrl_pid(self):158 return self._ctrl_motor.pid_data159 # Brake Controller PID160 @property161 def brake_ctrl_error(self):162 return self._ctrl_brake.value163 @property164 def brake_ctrl_pid(self):165 return self._ctrl_brake.pid_data166 # Motor Rotational167 @property168 def motor_rotation(self):169 return self._motor.rotational_data170 # Axle Rotation171 @property172 def axle_rotation(self):173 return self._axle.shaft_data.rotational_data174 # Wheel Rotational175 @property176 def wheel_rotation(self):177 return [ self._wheel[0].rotational_data,178 self._wheel[1].rotational_data,179 self._wheel[2].rotational_data,180 self._wheel[3].rotational_data ]181 # Odometer182 @property183 def odometer(self):184 return mean([ self._wheel[0].odometer,185 self._wheel[1].odometer,186 self._wheel[2].odometer,187 self._wheel[3].odometer ])188 # Brake Rotational189 @property190 def brake_rotation(self):191 return [ self._wheel[0].brake_rotational,192 self._wheel[1].brake_rotational,193 self._wheel[2].brake_rotational,194 self._wheel[3].brake_rotational ]195 # Battery Electricity196 @property197 def battery_electricity(self):198 return self._battery.battery_data199 # ESC Electricity200 @property201 def esc_electricity(self):202 return self._esc.electricity_data203 # Motor Electricity204 @property205 def motor_electricity(self):206 return self._motor.electricity_data207 # Controller Mode208 @property209 def controller_mode(self):210 return self._mode211 ###############################212 ### SETTERS ###213 ###############################214 # Actual vehicle speed215 @vehicle_speed.setter216 def vehicle_speed(self, speed):217 self._speed = speed218 for ptr in self._wheel:219 ptr.vehicle_speed_feedback(speed)220 self._axle.wheel_speed_feedback(self._wheel[0].speed, self._wheel[1].speed) 221 self._motor.shaft_speed_feedback(self._axle.shaft_data.speed)222 # Target speed223 @target_speed.setter224 def target_speed(self, speed):225 self._speed_target = speed226 227###############################228###############################229###### END ######230###############################...

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wheelcypher.py

Source:wheelcypher.py Github

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1# Written by Sam Aikin Aug 13, 2021.2#3# Copyright (c) 2021 Sam Aikin4#5# Permission is hereby granted, free of charge, to any person obtaining a copy6# of this software and associated documentation files (the "Software"), to deal7# in the Software without restriction, including without limitation the rights8# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell9# copies of the Software, and to permit persons to whom the Software is10# furnished to do so, subject to the following conditions:11#12# The above copyright notice and this permission notice shall be included in all13# copies or substantial portions of the Software.14#15# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR16# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,17# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE18# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER19# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,20# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE21# SOFTWARE.22#23# All rights reserved.24#25# A simple proof of concept implementation of a Wheel Cypher or a Jefferson Disk.26#27# https://en.wikipedia.org/wiki/Jefferson_disk28#29# A WHEEL contains a SEQUENCE of letters (this is the base encoding mechanisms)30# a DRUM contains a SEQUENCE of WHEELs (this is how a message is encoded / decoded)31class Wheel:32 elements = ['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', '*']33 def __init__(self, sequence: list):34 if len(sequence) != 27 or sum(sequence) != 378:35 raise ValueError('Bad Wheel Sequence Passed')36 self._wheel = []37 for i in range(0, len(sequence)):38 self._wheel += self.elements[sequence[i] - 1]39 def encode(self, coded_letter: str):40 # first item is letter being encoded, so encoding value can be checked.41 offset = self._wheel.index(coded_letter)42 result = []43 for i in range(0, len(self._wheel)):44 index = (offset + i) % len(self._wheel)45 result += self._wheel[index]46 return result47class Drum:48 seq1 = [1, 27, 12, 15, 22, 20, 26, 19, 13, 8, 14, 10, 18,49 21, 9, 5, 23, 3, 4, 17, 16, 11, 2, 25, 7, 24, 6]50 seq2 = [1, 24, 26, 20, 11, 25, 13, 8, 16, 5, 19, 4, 21,51 18, 6, 12, 23, 9, 22, 15, 7, 14, 2, 17, 27, 10, 3]52 seq3 = [1, 10, 4, 23, 17, 9, 25, 3, 6, 24, 13, 21, 19, 7, 12,53 2, 26, 20, 8, 27, 18, 22, 5, 14, 11, 16, 15]54 seq4 = [1, 5, 22, 4, 17, 21, 12, 9, 2, 19, 10, 27, 8, 14, 16,55 6, 23, 13, 25, 11, 7, 24, 3, 26, 20, 18, 15]56 seq5 = [1, 8, 21, 14, 6, 18, 9, 12, 20, 7, 27, 13, 4, 15, 17,57 16, 5, 24, 19, 25, 10 ,11, 22, 23, 2, 3, 26]58 seq6 = [1, 5, 21, 13, 4, 7, 26, 18, 10, 2, 17, 20, 24, 3, 27,59 19, 12, 25, 6, 16, 14, 9, 22, 15, 8, 11, 23]60 # for now, fixed set of wheels, matching drum bought at Valley Forge.61 # Could be expanded to include ability to select an arbitrary order of wheels.62 def __init__(self):63 self._wheel = []64 while len(self._wheel) < 12:65 self._wheel += [Wheel(self.seq1)]66 self._wheel += [Wheel(self.seq2)]67 self._wheel += [Wheel(self.seq3)]68 self._wheel += [Wheel(self.seq4)]69 self._wheel += [Wheel(self.seq5)]70 self._wheel += [Wheel(self.seq6)]71 def encode(self, coded_str: str):72 letters = [str(letter) for letter in coded_str]73 # ensure that coded messages are always multiples of 1274 while len(letters) % 12 != 0:75 letters += 'Z'76 encodings = []77 for i in range(0, len(letters)):78 encodings += [self._wheel[i % 12].encode(letters[i])]79 result = []80 for i in range(0, len(encodings[0])):81 encoded_string = []82 for j in range(0, len(letters)):83 encoded_string += encodings[j][i]84 result += [''.join(encoded_string)]85 return result86if __name__ == "__main__":87 encoder = Drum()88 to_encode = input('Enter string to encode: ').upper()89 message = encoder.encode(to_encode)90 for i in range(0, len(message)):...

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mouse.py

Source:mouse.py Github

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1class Mouse:2 def __init__(self):3 self._position = (0, 0)4 self._previous_state = False5 self._state = False6 self._wheel = 07 def kivy_frame(self):8 self._wheel = 09 self._previous_state = self._state10 self._state = False11 def kivy_update_position(self, etype, motionevent):12 if etype:13 self._position = motionevent14 def kivy_update_state(self, instance, touch):15 try:16 if touch.button == 'left':17 self._state = True18 except AttributeError:19 pass20 if touch.is_mouse_scrolling:21 self._wheel = 1 if touch.button == 'scrolldown' else -122 def pygame_update(self, wheel=0):23 '''24 self._previous_state = self._state25 #self._state = pygame.mouse.get_pressed(3)[0]26 #self._position = pygame.mouse.get_pos()27 self._wheel = wheel28 '''29 def position(self):30 return self._position31 def pressed(self):32 return self._state and not self._previous_state33 def released(self):34 return self._previous_state and not self._state35 def wheel(self):...

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