def collect_one_point(camera, steering_angle, Xs, ys):
frame = camera.capture()
frame = resize(frame)
set_steering(steering_angle)
time.sleep(0.1)
set_throttle(CAR_THROTTLE_FORWARD_SAFE_SPEED)
time.sleep(0.2)
set_throttle(0.0)
Xs.append(frame)
ys.append(steering_angle)
def collect_one_point(camera, steering_angle, Xs, ys):
frame = camera.capture()
frame = resize(frame)
set_steering(steering_angle)
time.sleep(0.1)
set_throttle(safe_forward_throttle())
time.sleep(0.2)
set_throttle(0.0)
Xs.append(frame)
ys.append(steering_angle)
def _calibrate_servo_range():
_setup_motors()
motor_params = _query_motor_params()
steering_left = motor_params['steering_left']
steering_mid = motor_params['steering_mid']
steering_right = motor_params['steering_right']
_setup_motors(30000)
m.set_steering(45.0)
v = _easy_ask("Steering left PWM value", steering_left, int)
while True:
steering_left = v
STORE.put('CAR_MOTOR_STEERING_LEFT', steering_left)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(45.0)
v = _easy_ask("Steering left PWM value", steering_left, int)
if v == steering_left:
break # break when the user doesn't change the value
_setup_motors(30000)
m.set_steering(-45.0)
v = _easy_ask("Steering right PWM value", steering_right, int)
while True:
steering_right = v
STORE.put('CAR_MOTOR_STEERING_RIGHT', steering_right)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(-45.0)
v = _easy_ask("Steering right PWM value", steering_right, int)
if v == steering_right:
break # break when the user doesn't change the value
_setup_motors()
m.set_steering(0)
v = _easy_ask("Steering mid PWM value", steering_mid, int)
while True:
steering_mid = v
STORE.put('CAR_MOTOR_STEERING_MID', steering_mid)
_setup_motors()
_demo_forward_reverse_no_pid()
v = _easy_ask("Steering mid PWM value", steering_mid, int)
if v == steering_mid:
break # break when the user doesn't change the value
_setup_motors(save=True)
def demo_steering():
time.sleep(1.5)
set_steering(-45.0)
time.sleep(1.0)
set_steering(45.0)
time.sleep(1.0)
set_steering(0.0)
time.sleep(2.0)
def demo_mid(new_val):
STORE.put('CAR_MOTOR_STEERING_MID', new_val)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(0.0) # <-- mid-steering ("straight")
def demo_right(new_val):
STORE.put('CAR_MOTOR_STEERING_RIGHT', new_val)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(-45.0) # <-- max right
def demo_left(new_val):
STORE.put('CAR_MOTOR_STEERING_LEFT', new_val)
_setup_motors(30000) # <-- nearabout the max possible timeout
m.set_steering(45.0) # <-- max left
from car.motors import set_steering import time time.sleep(3.5) set_steering(-45.0) time.sleep(1.0) set_steering(45.0) time.sleep(1.0) set_steering(0.0) time.sleep(2.0)
