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diagnostics.py
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diagnostics.py
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import sys
import time
import math
from Wire import *
tests = sys.argv[2:]
# Ah ratings of batteries
batteries = [20]
# current ratings of fuses
fuses = [2, 3, 5, 7.5, 10, 15, 20, 25, 30, 35]
def FindFuse(I):
for f in fuses:
if f > I:
return f
return I
# lengths of wires (in metres, round trip) from each of the fuses to their final destination
wireLengths = {
-1: 1.0, # battery to fuse block
1: 0.5, # raspberry pi
2: 0,
3: 3.0, # dome lights
4: 0, # body lights
5: 0, # dome servos
6: 0, # body servos
7: 1.0, # dome motor
8: 1.0, # sound system
9: 0,
10: 0,
11: 0, # left foot motor
12: 0, # right foot motor
}
#r2.StatusDisplay.SetText(4, "Running Diagnostics")
r2.Relay1.Disable()
r2.Relay2.Disable()
r2.Relay3.Disable()
r2.Relay4.Disable()
r2.Relay5.Disable()
r2.Relay6.Disable()
r2.Relay7.Disable()
r2.Relay8.Disable()
#r2.Relay2.Enable()
#r2.Relay3.Enable()
#r2.Relay4.Enable()
#r2.Relay5.Enable()
#r2.Relay6.Enable()
#r2.Relay7.Enable()
#r2.Relay8.Enable()
def MeasureCurrent(count=50000):
m = 0
a = 0
for i in range(count):
c = r2.Current.GetCurrent()
a += c
m = max(m, c)
return (a / count, m)
def AverageVoltage(count=10000):
V = 0
for i in range(count):
V += r2.Voltage.GetVoltage()
return V / count;
def PrintPower(Iavg, Imax, fuse=0):
print "Average current: {:.2f}".format(Iavg)
print "Maximum current: {:.2f} A".format(Imax)
if fuse > 0:
f = FindFuse(Imax)
print "Fuse {:} should be at least {:} A".format(fuse, f)
print "Wire from fuse {:} should be at least {:}".format(fuse, CalculateWireSize(V, f, wireLengths[fuse], loss=3))
elif fuse == -1:
print "Wire from battery to fuse block should be at lease {:}".format(CalculateWireSize(V, Imax, wireLengths[fuse]))
print "Average power {:.2f} W".format(Iavg * V)
print "Maximum power: {:.2f} W".format(Imax * V)
for B in batteries:
t = B / Iavg
h = int(math.floor(t))
m = int((t - h) * 60)
d = (str(h) + "h, " + str(m) + "m") if h >= 1 else (str(m) + "m")
print "Average runtime on " + str(B) + "Ah battery: " + d
print
print "==================="
print "RUNNING DIAGNOSTICS"
print "==================="
print
print "Measuring battery voltage"
print "-------------------------"
V = AverageVoltage()
print "Voltage: {:.2f} V".format(V)
print
print "Measuring microcontroller current (fuse 1)"
print "------------------------------------------"
Iidle = MeasureCurrent()
PrintPower(Iidle[0], Iidle[1], 1)
def DomeLights(brightness):
print
s = "Measuring dome lights current (fuse 3) at brightness = " + str(brightness)
print s
print "-" * len(s)
if not r2.DomeLightsRelay.Enabled:
r2.DomeLightsRelay.Enable()
time.sleep(2)
if brightness >= 0:
#r2.Head.SetDefault()
#r2.LifeFormScanner.SetOn()
r2.MagicPanel.SetOn()
r2.FrontHoloProjector.SetOn()
r2.RearHoloProjector.SetOn()
r2.TopHoloProjector.SetOn()
r2.SetBrightness(brightness, limit=False)
#else:
# r2.Head.SetOff()
time.sleep(0.1)
IdomeLights = MeasureCurrent()
IdomeLights = (IdomeLights[0] - Iidle[0], IdomeLights[1] - Iidle[0])
PrintPower(IdomeLights[0], IdomeLights[1], 3)
return IdomeLights
IdomeLightsDefault = (0, 0)
IdomeLightsMax = (0, 0)
if len(tests) == 0 or "3" in tests:
IdomeLightsMin = DomeLights(0)
IdomeLightsDefault = DomeLights(10)
IdomeLightsMax = DomeLights(255)
r2.DomeLightsRelay.Disable()
IdomeMotor = (0, 0)
if len(tests) == 0 or "7" in tests:
print
print "Measuring dome motor current (fuse 7)"
print "-------------------------------------"
r2.DomeMotorRelay.Enable()
time.sleep(0.2)
r2.Head.SetRequirePing(False)
r2.Head.Enable()
time.sleep(1)
r2.Head.SetSpeed(255)
time.sleep(1)
IdomeMotor = MeasureCurrent()#(5, 10)
IdomeMotor = (IdomeMotor[0] - Iidle[0], IdomeMotor[1] - Iidle[0])
r2.Head.SetSpeed(127)
time.sleep(1)
r2.DomeMotorRelay.Disable()
r2.Head.SetRequirePing(True)
PrintPower(IdomeMotor[0], IdomeMotor[1], 7)
Isound = (0, 0)
if len(tests) == 0 or "8" in tests:
print
print "Measuring amplifier current (fuse 8)"
print "===================================="
r2.SoundRelay.Enable()
r2.Sound.PlayFile("startup.mp3")
time.sleep(0.2)
Isound = MeasureCurrent(180000)
Isound = (Isound[0] - Iidle[0], Isound[1] - Iidle[0])
r2.SoundRelay.Disable()
PrintPower(Isound[0], Isound[1], 8)
print
print "Calculating total current"
print "-------------------------"
Itotal = Iidle[0] + IdomeLightsDefault[0] + IdomeMotor[0] + Isound[0]
Imax = Iidle[1] + IdomeLightsMax[1] + IdomeMotor[1] + Isound[1]
PrintPower(Itotal, Imax, -1)
sys.exit(0)