def command(cmd=None):
if cmd == STOP:
motor.stop()
elif cmd == FORWARD:
motor.forward()
elif cmd == BACKWARD:
motor.backward()
elif cmd == LEFT:
motor.left()
else:
motor.right()
response = "Moving {}".format(cmd.capitalize())
return response, 200, {'Content-Type': 'text/plain'}
def move(rect):
(x,y,w,h) = rect
center = (320,240)
rect_center = (x+w//2, y+h//2)
cv2.circle(img, center, 1, (0, 0, 255), 2);
cv2.circle(img, rect_center, 1, (0, 0, 255), 2);
go_back = -1
right_left = -1
if w*h > 45000 or y < 50:
go_back = 2
elif w*h < 35000 or y > 430:
go_back = 1
else:
go_back = 0
if rect_center[0] > center[0]+100:
right_left = 2
elif rect_center[0] < center[0]-100:
right_left = 1
else:
right_left = 0
location = (('stop','go','back'),
('left','go_left','back_left'),
('right','go_right','back_right'))
loc = location[right_left][go_back]
if loc == 'stop':
m.stop()
elif loc == 'go':
m.go()
elif loc == 'back':
m.back()
elif loc == 'left':
m.left()
elif loc == 'right':
m.right()
elif loc == 'go_left':
m.go_left()
elif loc == 'go_right':
m.go_right()
elif loc == 'back_left':
m.back_left()
elif loc == 'back_right':
m.back_right()
print(loc)
def handle_event(payload):
type = payload['type']
if type == 'move':
x = payload['x']
y = payload['y']
#print str(x) + ' ' + str(y)
motor.move(x, y)
elif type == 'up':
motor.up()
elif type == 'down':
motor.down()
elif type == 'left':
motor.left()
elif type == 'right':
motor.right()
def command(cmd=None):
if cmd == STOP:
led.led_stop()
motor.stop()
elif cmd == FORWARD:
led.led_off()
motor.forward()
elif cmd == BACKWARD:
led.led_off()
motor.backward()
elif cmd == LEFT:
led.led_left()
motor.left()
elif cmd == RIGHT:
led.led_right()
motor.right()
return "Success", 200, {'Content-Type': 'text/plain'}
async def hello(websocket, path):
while True:
msg = await websocket.recv()
print("< {}".format(msg))
if msg == 'forward':
motor.forward()
if msg == 'stop':
motor.stop()
if msg == 'right':
motor.right()
if msg == 'left':
motor.left()
if msg == 'backward':
motor.backward()
def byForm(form, setLabelSignal):
if form.corners == 4:
print("Patrulater")
sleep(1)
left()
sleep(1)
start()
setLabelSignal.emit("Patrulater")
if form.corners == 3:
print("Triunghi")
sleep(1)
right()
sleep(1)
start()
setLabelSignal.emit("Triunghi")
if form.corners == 6:
print("Hexagon")
setLabelSignal.emit("Hexagon")
reward = 0
while game_over==False:
if np.random.rand() <= epsilon:
action = np.random.randint(0, moves, size=1)[0]
else:
output = model.predict(input_img)
action = np.argmax(output[0])
if int(action) == 0:
<<<<<<< HEAD:Using-Object-Detection-For-Reward/reinforced.py
forward(1.25)
print('forward')
elif int(action) == 1:
right(1.25)
print('right')
else:
left(1.25)
=======
forward(FB_TIME)
print('forward')
elif int(action) == 1:
right(LR_TIME)
print('right')
else:
left(LR_TIME)
>>>>>>> ultrasonic:reinforced.py
print('left')
input_next_img, errors = getImage()
if errors == False:
reward = reward + 1
else:
game_over = True
import numpy as np
from camera import getImage
from cnn import checkModel
from motor import forward, left, right
from config import FB_TIME, LR_TIME
model = checkModel()
while True:
input_img, errors = getImage()
output = model.predict(input_img)
print(output, output.shape )
action = np.argmax(output[0])
if int(action) == 0:
forward(FB_TIME)
print('forward')
elif int(action) == 1:
right(LR_TIME)
print('right')
else:
left(LR_TIME)
print('left')
def left():
motor.left(1)
import player
import listen
from pynput.keyboard import Controller, Key, Listener
# create IPv4, TCP socket
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(('119.23.228.189', 9999))
print("链接成功") # read 1024 byte from socket
while 1:
# if a == "q":
# break
# s.send(a.encode())
# print("send"+a)
while True:
a = s.recv(1024)
print(a)
print(a == bytes('w'.encode()))
print(type(a))
if a == bytes('w'.encode()):
motor.up()
elif a == bytes('s'.encode()):
motor.down()
elif a == bytes('d'.encode()):
motor.right()
elif a == bytes('a'.encode()):
motor.left()
elif a == bytes('b'.encode()):
player.sound()
else:
print("不可以输入", a)
def left(): motor.left(1)
def l():
left()
return jsonify({"message":"Started turning left"})
ENAset(50)
ENBset(50)
elif speed == 2: # high
print("HIGH speed")
ENAset(100)
ENBset(100)
elif str == 'keycode':
arrow = int(datalist[0][1])
if arrow == 38:
print("Go Forward")
mtr.forward()
time.sleep(0.05)
mtr.stop()
elif arrow == 37:
print("Turn Left")
mtr.left()
time.sleep(0.05)
mtr.stop()
elif arrow == 40:
print("Go Backward")
mtr.backward()
time.sleep(0.05)
mtr.stop()
elif arrow == 39:
print("Turn Right")
mtr.right()
time.sleep(0.05)
mtr.stop()
## Control Arm/Camera Servo Motor
elif str == 'range':
def move(rect):
(x, y, w, h) = rect
center = (320, 240)
rect_center = (x + w // 2, y + h // 2)
cv2.circle(img, center, 1, (0, 0, 255), 2)
cv2.circle(img, rect_center, 1, (0, 0, 255), 2)
go_back = -1
right_left = -1
if w * h > 45000 or y < 50:
go_back = 2
elif w * h < 35000 or y > 430:
go_back = 1
else:
go_back = 0
if rect_center[0] > center[0] + 100:
right_left = 2
elif rect_center[0] < center[0] - 100:
right_left = 1
else:
right_left = 0
location = (('stop', 'go', 'back'), ('left', 'go_left', 'back_left'),
('right', 'go_right', 'back_right'))
loc = location[right_left][go_back]
'''
x= np.linspace(0,640,8)
x2 = np.linspace(0,640,6)
degree = np.array([4.5,5.5,6.5,7.5,8.5,9.5,10.5])
degree2 = np.array([4.5,6,7.5,9,10.5])
for i in range(0,len(degree)):
if x[i] < rect_center[0] and x[i+1] > rect_center[0]:
m.setServo(degree[i])
time.sleep(0.3)
break
'''
if loc == 'stop':
m.stop()
elif loc == 'go':
m.go()
elif loc == 'back':
m.back()
elif loc == 'left':
m.left()
elif loc == 'right':
m.right()
elif loc == 'go_left':
m.go_left()
elif loc == 'go_right':
m.go_right()
elif loc == 'back_left':
m.back_left()
elif loc == 'back_right':
m.back_right()
print(loc)
joy = xbox.Joystick()
# Setup motors
GPIO.setmode(GPIO.BOARD)
motor.setup()
try:
#Valid connect may require joystick input to occur
print "Waiting for Joystick to connect"
while not joy.connected():
time.sleep(0.10)
print('Connected')
#Show misc inputs until Back button is pressed
while not joy.Back() and joy.connected():
if joy.rightTrigger() > 0:
motor.forward()
elif joy.leftTrigger() > 0:
motor.backward()
elif joy.rightBumper():
motor.right()
elif joy.leftBumper():
motor.left()
else:
motor.stop()
finally:
#Always close out so that xboxdrv subprocess ends
joy.close()
print "Done."