yst = xyval(axishift)[1] - yo
theta = np.arctan((yst - y0) / (xst - x0))
xs = round(xst * np.cos(theta) + yst * np.sin(theta), 15)
ys = round(-xst * np.sin(theta) + yst * np.cos(theta), 15)
if __name__ == "__main__":
RUN_NAME = sys.argv[1]
origin = np.array([-25.7454172, 28.247508999999997])
path_lat_long = read_path(PATH_FILE)
path = xy.convert_path(origin=origin, path=path_lat_long)
gps = UBX()
gps.start_reading()
hardware_controller = HardwareController(gps)
##Path
# pathx = np.arange(0, 20, 0.5)
# pathy = []
# path = []
pathx = path[:, 0]
pathy = path[:, 1]
# for i in pathx:
# pathno = 2
# i = round(i, 3)
from gps_interface.ublox_interface import UBX
import sys, argparse
from coordinate_conversions import xy
import numpy as np
import time
if __name__ == "__main__":
gps = UBX(port="/dev/ttyACM1")
gps.start_reading()
time.sleep(2)
origin = None
point1 = None
results = []
while True:
user_input = input("Enter to set origin:")
if user_input == "":
origin = np.array([gps.lat, gps.long])
break
else:
pass
while True:
user_input = input("Enter to set first point")
if user_input == "":
point1 = np.array([gps.lat, gps.long])
break
else:
pass
path_data = []
with open(path_file, "r") as file:
for line in file:
x, y = line.split(",")
path_data.append([x, y])
return np.array(path_data)
if __name__ == "__main__":
RUN_NAME = sys.argv[1]
path = read_path(INPUT_PATH_FILE)
gps = UBX()
# I2C Setup
# i2c = busio.I2C(board.SCL, board.SDA)
gps.start_reading()
hardware_controller = HardwareController(gps=gps)
path_controller = DQNController(model_file="controller/models/2_IN_5_OUT_PATH_FINAL.h5")
print("Waiting for GPS signal...")
time.sleep(2)
origin = np.array([gps.lat, gps.long])
path = np.vstack([origin, path])
path_xy = xy.convert_path(origin=origin, path=path)
gps_results = []
from hardware.hardware_controller import HardwareController
from gps_interface.ublox_interface import UBX
import time
if __name__ == "__main__":
try:
gps = UBX(port="/dev/ttyACM0", baud=9600, origin=(0, 0))
hw_controller = HardwareController(gps=gps)
hw_controller.center()
volt_left = []
volt_right = []
volt_center = []
for i in range(100):
volt_center.append(hw_controller.steer_adc.voltage)
hw_controller.steer_dac.value = 10000
while True:
user_input = input("Continue:")
if user_input == "":
break
hw_controller.left()
while True:
user_input = input("Continue:")
if user_input == "":
break
for i in range(100):
volt_left.append(hw_controller.steer_adc.voltage)
hw_controller.right()
# parser = argparse.ArgumentParser()
#
# parser.add_argument('--gps-log', help='Optional GPS log file')
# parser.add_argument('--path', help='The input path file')
#
# args = parser.parse_args()
#
# if len(sys.argv) > 1:
# gps_log = sys.argv[1]
# else:
# gps_log = None
gps_log = None
input_path = "sample-path"
gps = UBX(port="/dev/ttyACM0", baud=9600, origin=(0, 0), gps_log=gps_log)
# I2C Setup
i2c = busio.I2C(board.SCL, board.SDA)
gps.start_reading()
hardware_controller = HardwareController(gps=gps)
path_controller = DQNController(
model_file="controller/models/COMPLEX_ARCH_1_IN_5_OUT.h5")
try:
hardware_controller.startup()
hardware_controller.start_control()
# Speed Override:
speed_volt = 0.8
import busio
import adafruit_ads1x15.ads1115 as ADC
import adafruit_mcp4725 as DAC
from adafruit_ads1x15.analog_in import AnalogIn
import digitalio as DIO
import yaml
if __name__ == "__main__":
current_speed = 0
current_angle = 0
max_speed = 10
max_angle_left = 20
max_angle_right = -20
# Setup GPS
gps = UBX(port="/dev/ttyACM0", baud=9600)
# gps.start_reading()
# I2C Setup
# Setup Steering Controller
# steering_controller = SteeringController(i2c=i2c)
#
# # Setup Speed Controller
# speed_controller = SpeedController(i2c=i2c, gps=gps)
gps.start_reading()
hw_controller = HardwareController(gps=gps)
gps_data = []
try:
while True: