main_task26 — Python Source Package

Direktori source Python dari ROS2 package main_task26 untuk robot humanoid ROBOTIS OP3 bermain sepak bola otonom. Berisi 17 file .py + 1 pid_config.json — 7 node ROS2 utama, 4 node utility, 2 GUI, 2 library, dan 2 file tak terpakai.

Daftar File

7 Node Utama (dijalankan via main_launch.py)

File	Class / Node	Deskripsi
main_action.py	FallRecoveryFull (fall_recovery_full)	Deteksi jatuh via IMU (akselerasi sumbu X), recovery via action page (142/143), kick decision kiri/kanan saat jarak bola < threshold
crab_walk.py	GaitController (gait_controller)	Base class walking parameter: period 0.95s, DSP 0.2, step FB 0.28, X/Y/Z amplitude, arm swing gain, balance enable. Publishes ke /robotis/walking/set_params
main_buttonhandler.py	ButtonSoccerNode(GaitController) (button_soccer_node)	Turunan GaitController. Handle tombol Open-CR: user (jalan diagonal), start (jalan lurus), mode (toggle soccer/walking module), double-click detection
main_head_control.py	HeadControl (button_stand_scan_node)	PID tracking kepala via /obj_detect, auto-scan saat bola hilang, subscribe /pid_params live retuning, state machine NORMAL/KICK/RECOVER
main_vision.py	VisionYolo (usb_cam_yolo)	YOLO OpenVINO inference via USB camera, bounding box + FPS, publish /obj_detect (string koordinat bola) dan /vision/jarak_kamera (Float32)
main_task.py	MainTask (main_task_node)	Koordinator utama (legacy), subscribe /vision/jarak_kamera, MultiThreadedExecutor. Sebagian node di-comment
jarak.py	JarakCalculation (jarak_calculation)	Hitung jarak bola dari head tilt: jarak = (tinggi_robot * tan(sudut_kamera - sudut_mat)) - kalibrasi_jarak

4 Node Utility

File	Class / Node	Deskripsi
cek.py	HeadListener (head_listener)	Debug: print head_pan & head_tilt dari /robotis/goal_joint_states
hadap.py	ImuYawNode + KalmanFilter 1D (imu_yaw_node)	Kalkulasi yaw dari quaternion IMU, Kalman filter (Q=0.001, R=0.05), log ke console
imucek.py	YawSocketServer + ROS2 node	Yaw streaming server via TCP port 5005, multi-client support, kirim raw yaw radian ke GUI
imucsv.py	ImuSubscriber (imu_subscriber)	Log quaternion IMU (x, y, z, w) ke imu_data_belakang.csv

2 GUI (Tkinter)

File	Deskripsi
tunning_PID.py	PID Tuner GUI — slider Kp/Ki/Kd untuk pan & tilt, realtime plot (matplotlib), auto-save/load ke pid_config.json, publish ke /pid_params. Berjalan sebagai ROS2 node
giuiimu.py	IMU Yaw GUI via TCP — grafik real-time raw & filtered yaw, adjustable Kalman (Q, R, initial state), dark theme. Bisa jalan tanpa ROS2 (demo mode --demo)

2 Library

File	Deskripsi
main_PID.py	3 class PID: PID (basic sample time), AdaptivePID (gain scheduling), PIDControl (anti-windup + output clamping). Total ~255 baris
kalman_filter.py	KalmanFilter2D — 4-state (cx, cy, vx, vy), predict + update, Joseph form stabil numerik, dt clamp. Saat ini tidak aktif (di-comment di main_vision.py)

File Tak Terpakai

File	Keterangan
kick_useless.py	KickDecision — implementasi kick terpisah memanggil FallRecoveryFull. Seluruh main() di-comment. Logika kick sudah pindah ke main_action.py
motion_PID.py	Bukan Python source — ini PyInstaller archive (binary zip), jangan diedit

Konfigurasi

File	Isi
pid_config.json	Default PID: pan (Kp=0, Ki=0.02, Kd=0.15), tilt (Kp=0, Ki=0, Kd=0)
__init__.py	Package marker (kosong)

Ringkasan Alur Data

USB Camera
  └─► main_vision.py (YOLO)
        ├─► /obj_detect ──────────► main_head_control.py (PID tracking + auto scan)
        └─► /vision/jarak_kamera ──► main_action.py (kick decision)
                                    └─► main_task.py (coordinator)

IMU Open-CR
  ├─► main_action.py (fall detection via X acceleration)
  ├─► hadap.py (yaw calculation) ──► imucek.py (TCP server :5005) ──► giuiimu.py (GUI)
  └─► imucsv.py (CSV logger)

Tombol Open-CR
  └─► main_buttonhandler.py (mode: jalan lurus / diagonal / toggle)

Joint States
  ├─► crab_walk.py (head pan feedback for direction)
  ├─► cek.py (debug monitor)
  └─► tunning_PID.py (PID tuner GUI feedback)

Catatan untuk Developer

• Kalman Filter Tidak Aktif — kalman_filter.py sudah implementasi lengkap (predict, update, Joseph form), tapi semua panggilannya di main_vision.py di-comment. Juga 1D Kalman di hadap.py di-comment.
• Path Model Absolute — main_vision.py:32-35 hardcoded ke /home/aroc/main_task26/main_task26/model/best_openvino_model. Sebaiknya diubah jadi parameter ROS2 atau path relatif.
• Typo Entry Point — setup.py line 31 menulis buttonhandler bukan main_buttonhandler. File asli adalah main_buttonhandler.py. Di entry_points.txt hasil build sudah diperbaiki.
• motion_PID.py — Bukan source Python, melainkan PyInstaller archive. Jangan dibuka sebagai kode.
• kick_useless.py — Seluruh main() di-comment. Logika kick sudah terintegrasi di main_action.py.