def Run(self, duration, newPosition, speed, direction):
#TODO https://www.google.com/search?q=pass+object+to+python+function&rlz=1C1GCEA_enUS892US892&oq=pass+object+to+python+function&aqs=chrome..69i57.5686j0j7&sourceid=chrome&ie=UTF-8
#TODO https://stackoverflow.com/questions/20725699/how-do-i-pass-instance-of-an-object-as-an-argument-in-a-function-in-python
"""
Run an actuator for a given number of milliseconds to a given position at percentage of max speed in FORWARD or BACKWARDS direction
Key arguments:
duration - Time actuator is in motion, for Servo() objects this can be used to control speed of movement
newPosition - New position between -1 and 1 that actuator should move to
speed - Speed at which actuator moves at, for Servo() objects this parameter is NOT used
direction - Set counter-clockwise (CCW or LINEAR_IN) or clockwise (CW or LINEAR_OUT) as the forward direction
Return Value:
NOTHING
"""
print("Actuator.py Run() function started!")
if(type == "S"):
currentPosition = self.actuatorObject.value()
if(currentPosition < (newPosition - Actuator.SERVO_SLACK)):
self.actuatorObject.max() #TODO THIS MAY NOT STOP AND GO ALL THE WAY TO MAX POS
elif(currentPosition > (newPosition - Actuator.SERVO_SLACK)):
self.actuatorObject.min() #TODO THIS MAY NOT STOP AND GO ALL THE WAY TO MIN POS
else:
# NEAR to new position DO NOTHING
self.actuatotObject.dettach()
elif(type == "M"):
#TODO Write motor control code
Motor.enable() #TODO CHANGE TO self.acutatorObject
currentPosition = actuatorObject.value
while(currentPosition != newPosition):
if(actuatorObject.forwardDirection == Actuator.CW):
Motor.forward(speed)
else:
Motor.reverse(speed)
currentPosition = self.actuatorObject.value
sleep(duration) #TODO signal.pause(duration)
Motor.disable()
elif(type == "R"):
relay.on()
sleep(duration) #TODO signal.pause(duration)
relay.off()
else:
self.DebugObect.Dprint("INVALID Actutator Type sent to Run method, please use S, M, R as first parameter to Actuator() Object")
self.DebugObject.Dprint("Run function completed!")
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--model_name',
default='test_model',
help='Model identifier.')
parser.add_argument('--model_path',
required=True,
help='Path to model file.')
parser.add_argument('--speed',
default=0.5,
type=float,
help='Reduction factor on speed')
args = parser.parse_args()
model = ModelDescriptor(name=args.model_name,
input_shape=(1, 192, 192, 3),
input_normalizer=(0, 1),
compute_graph=utils.load_compute_graph(
args.model_path))
left = Motor(PIN_A, PIN_B)
right = Motor(PIN_C, PIN_D)
print('spinning')
try:
with PiCamera(sensor_mode=4, framerate=30):
with CameraInference(model) as inference:
for result in inference.run():
data = [
tensor.data for _, tensor in result.tensors.items()
]
lspeed, rspeed = data[0]
print('#%05d (%5.2f fps): %1.2f/%1.2f' %
(inference.count, inference.rate, lspeed, rspeed))
if lspeed < 0:
left.reverse(-max(-1, lspeed) * args.speed)
else:
left.forward(min(1, lspeed) * args.speed)
if rspeed < 0:
right.reverse(-max(-1, rspeed) * args.speed)
else:
right.forward(min(1, rspeed) * args.speed)
except Exception as e:
left.stop()
right.stop()
print(e)
motor2.forwards()
motor3.forwards()
motor4.forwards()
elif (rightSide == -100 and leftSide == -100 ):
#full steam backwards
motor1.backwards()
motor2.backwards()
motor3.backwards()
motor4.backwards()
elif (rightSide == -150 and leftSide == -100 ):
#Turn Half Right Backwards
motor1.stop()
motor2.stop()
motor3.reverse()
motor4.reverse()
elif (rightSide == -100 and leftSide == -150 ):
#Turn Half Left Backwards
motor1.stop()
motor2.stop()
motor3.reverse()
motor4.reverse()
else:
#motors off
motor1.stop()
motor2.stop()
motor3.stop()
motor4.stop()
