start using config gen.py again

.gitignore

@@ -1,2 +1,3 @@
 /target
 results/
+configurations/final

configurations/all.toml

@@ -1,47 +0,0 @@
-
-
-
-tickrate = 6000.0
-drone_tick_rate = 600
-max_thrust = 2.6
-max_torque = 0.5
-mass = 0.350
-
-# The Stack: First layer computes target speed, second layer computes motor torque
-layers = [
-    # { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
-    { type = "Rate", max_rate = 3.14, kp = [
-        0.01,
-        0.1,
-        0.01,
-    ], ki = [
-        0.0,
-        0.0,
-        0.0,
-    ], kd = [
-        0.0,
-        0.0,
-        0.0,
-    ] },
-]
-
-#                + (map[0] * setpoint.x) // Roll
-#                + (map[1] * setpoint.y) // Yaw
-#                + (map[2] * setpoint.z); // Pitch
-
-# /*
-#  * Motor position indices
-#  *    ^ - Front
-#  *    |
-#  *    |
-#  * 1 --- 0
-#  * |     |
-#  * |     |
-#  * 2 --- 3
-#  */
-motor_map = [
-    [-1.0, 1.0, 1.0],   # Front Right
-    [1.0, -1.0, 1.0],   # Front Left
-    [1.0, 1.0, -1.0],   # Rear Left
-    [-1.0, -1.0, -1.0], # Rear Right
-]

configurations/gen.py

@@ -1,11 +1,11 @@
 import os
 import subprocess
 
-subprocess.run("rm configurations/*.toml", shell=True)
+subprocess.run("rm -rf final && mkdir final", shell=True)
 
-MOT_FOLDER = "configurations/mot/"
+MOT_FOLDER = "mot/"
-SIM_FOLDER = "configurations/sim/"
+SIM_FOLDER = "sim/"
-PID_FOLDER = "configurations/pid_cont/"
+PID_FOLDER = "pid_cont/"
 
 mot_files = os.listdir(MOT_FOLDER)
 sim_files = os.listdir(SIM_FOLDER)
@@ -22,15 +22,7 @@ for case in prod:
             with open(PID_FOLDER + case[2], "r") as f3:
                 settings = f1.read() + "\n" + f2.read() + "\n" + f3.read()
     with open(
-        "configurations/"
+        "final/" + "".join(case).replace(".toml", "_").removesuffix("_") + ".toml",
-        + "".join(case).replace(".toml", "_").removesuffix("_")
-        + ".toml",
         "w",
     ) as f:
         f.write(settings)
-
-# cont = open(PID_FOLDER + "low_1.toml").read()
-# for i in range(1, 11):
-#     num = 0.005 * i
-#     with open(PID_FOLDER + f"low_{i:02d}.toml", "w") as f:
-#         f.write(cont.replace("0.005", str(num)))

configurations/mot/mot_std.toml

@@ -3,3 +3,11 @@ max_thrust = 2.6
 max_torque = 0.5
 mass = 0.350
 
+time_constant = 0.00
+
+motor_map = [
+    [-1.0, 1.0, 1.0],   # Front Right
+    [1.0, -1.0, 1.0],   # Front Left
+    [1.0, 1.0, -1.0],   # Rear Left
+    [-1.0, -1.0, -1.0], # Rear Right
+]

configurations/mot/mot_tc.toml

@@ -2,4 +2,11 @@ max_thrust = 2.6
 max_torque = 0.5
 mass = 0.350
 
-time_constant=0.01
+time_constant = 0.01
+
+motor_map = [
+    [-1.0, 1.0, 1.0],   # Front Right
+    [1.0, -1.0, 1.0],   # Front Left
+    [1.0, 1.0, -1.0],   # Rear Left
+    [-1.0, -1.0, -1.0], # Rear Right
+]

configurations/pid_cont/low_01.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.005, 0.005, 0.005]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_02.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.01, 0.01, 0.01]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_03.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.015, 0.015, 0.015]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_04.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.02, 0.02, 0.02]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_05.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.025, 0.025, 0.025]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_06.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.03, 0.03, 0.03]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_07.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.035, 0.035, 0.035]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_08.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.04, 0.04, 0.04]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_09.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.045, 0.045, 0.045]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/low_10.toml

@@ -1,5 +0,0 @@
-
-target_rate = 3.141592
-proportional_multiplier = [0.05, 0.05, 0.05]
-integral_multiplier = [0.0, 0.0, 0.0]
-diferential_multiplier = [0.0, 0.0, 0.0]

configurations/pid_cont/rate_01.toml

@@ -0,0 +1,16 @@
+
+layers = [
+    { type = "Rate", max_rate = 3.14, kp = [
+        0.01,
+        0.1,
+        0.01,
+    ], ki = [
+        0.0,
+        0.0,
+        0.0,
+    ], kd = [
+        0.0,
+        0.0,
+        0.0,
+    ] },
+]

configurations/pid_cont/rate_02.toml

@@ -0,0 +1,16 @@
+
+layers = [
+    { type = "Rate", max_rate = 3.14, kp = [
+        0.02,
+        0.2,
+        0.02,
+    ], ki = [
+        0.0,
+        0.0,
+        0.0,
+    ], kd = [
+        0.0,
+        0.0,
+        0.0,
+    ] },
+]

configurations/pid_cont/rate_03.toml

@@ -0,0 +1,16 @@
+
+layers = [
+    { type = "Rate", max_rate = 3.14, kp = [
+        0.02,
+        0.2,
+        0.02,
+    ], ki = [
+        0.0,
+        0.0,
+        0.0,
+    ], kd = [
+        0.0,
+        0.0,
+        0.0,
+    ] },
+]

configurations/pitch.toml

@@ -1,47 +0,0 @@
-
-
-
-tickrate = 6000.0
-drone_tick_rate = 600
-max_thrust = 2.6
-max_torque = 0.5
-mass = 0.350
-
-# The Stack: First layer computes target speed, second layer computes motor torque
-layers = [
-    # { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
-    { type = "Rate", max_rate = 3.14, kp = [
-        0.0,
-        0.0,
-        0.01,
-    ], ki = [
-        0.0,
-        0.0,
-        0.0,
-    ], kd = [
-        0.0,
-        0.0,
-        0.0,
-    ] },
-]
-
-#                + (map[0] * setpoint.x) // Roll
-#                + (map[1] * setpoint.y) // Yaw
-#                + (map[2] * setpoint.z); // Pitch
-
-# /*
-#  * Motor position indices
-#  *    ^ - Front
-#  *    |
-#  *    |
-#  * 1 --- 0
-#  * |     |
-#  * |     |
-#  * 2 --- 3
-#  */
-motor_map = [
-    [-1.0, 1.0, 1.0],   # Front Right
-    [1.0, -1.0, 1.0],   # Front Left
-    [1.0, 1.0, -1.0],   # Rear Left
-    [-1.0, -1.0, -1.0], # Rear Right
-]

configurations/roll.toml

@@ -1,47 +0,0 @@
-
-
-
-tickrate = 6000.0
-drone_tick_rate = 600
-max_thrust = 2.6
-max_torque = 0.5
-mass = 0.350
-
-# The Stack: First layer computes target speed, second layer computes motor torque
-layers = [
-    # { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
-    { type = "Rate", max_rate = 3.14, kp = [
-        0.01,
-        0.0,
-        0.0,
-    ], ki = [
-        0.0,
-        0.0,
-        0.0,
-    ], kd = [
-        0.0,
-        0.0,
-        0.0,
-    ] },
-]
-
-#                + (map[0] * setpoint.x) // Roll
-#                + (map[1] * setpoint.y) // Yaw
-#                + (map[2] * setpoint.z); // Pitch
-
-# /*
-#  * Motor position indices
-#  *    ^ - Front
-#  *    |
-#  *    |
-#  * 1 --- 0
-#  * |     |
-#  * |     |
-#  * 2 --- 3
-#  */
-motor_map = [
-    [-1.0, 1.0, 1.0],   # Front Right
-    [1.0, -1.0, 1.0],   # Front Left
-    [1.0, 1.0, -1.0],   # Rear Left
-    [-1.0, -1.0, -1.0], # Rear Right
-]

configurations/yaw.toml

@@ -1,47 +0,0 @@
-
-
-
-tickrate = 6000.0
-drone_tick_rate = 600
-max_thrust = 2.6
-max_torque = 2.0
-mass = 0.350
-
-# The Stack: First layer computes target speed, second layer computes motor torque
-layers = [
-    # { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
-    { type = "Rate", max_rate = 3.14, kp = [
-        0.0,
-        0.01,
-        0.0,
-    ], ki = [
-        0.0,
-        0.0,
-        0.0,
-    ], kd = [
-        0.0,
-        0.0,
-        0.0,
-    ] },
-]
-
-#                + (map[0] * setpoint.x) // Roll
-#                + (map[1] * setpoint.y) // Yaw
-#                + (map[2] * setpoint.z); // Pitch
-
-# /*
-#  * Motor position indices
-#  *    ^ - Front
-#  *    |
-#  *    |
-#  * 1 --- 0
-#  * |     |
-#  * |     |
-#  * 2 --- 3
-#  */
-motor_map = [
-    [-1.0, 1.0, 1.0],   # Front Right
-    [1.0, -1.0, 1.0],   # Front Left
-    [1.0, 1.0, -1.0],   # Rear Left
-    [-1.0, -1.0, -1.0], # Rear Right
-]