def interactiveControl():
setupInteractiveControl()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = (WIDTH, HEIGHT)
camera.start_preview(fullscreen=False,
window=(500, 50, CP_WIDTH, CP_HEIGHT))
command = 'idle'
while (True):
up_key, down, left, right, change, stop = getKeys()
getDistance()
if stop:
break
if change:
command = 'idle'
if up_key:
command = 'forward'
forward(FB_TIME)
elif down:
command = 'reverse'
reverse(FB_TIME)
elif left:
command = 'left'
lef(LR_TIME)
elif right:
command = 'right'
righ(LR_TIME)
print(command)
if (command in ('forward', 'right', 'left')):
input_img = save_image_with_direction(command)
camera.capture(input_img, use_video_port=True)
clock.tick(10)
pygame.quit()
def uturn(speed):
print 'uturn'
frontl = 0
frontr = 0
while frontl < front_thresh + 5 or frontr < front_thresh + 5:
frontl = ultrasonic.getDistance(echolf, triggerlf)
frontr = ultrasonic.getDistance(echorf, triggerrf)
backward(speed)
right0(speed)
def poll_around():
global lastAroundChecksum, isFrontAssistActive
if socketio != None:
dist = int(ultrasonic.getDistance())
l = robot.irLeft()
r = robot.irRight()
c = robot.irCentre()
ll = robot.irLeftLine()
rl = robot.irRightLine()
if dist <= 10 or l or r or c:
isFrontAssistActive = True
motor.execute("stop", None)
else:
isFrontAssistActive = False
data = {
'd': dist,
'l': l,
'c': c,
'r': r,
'll': ll,
'rl': rl,
'fa': isFrontAssistActive
}
checksum = hashlib.sha224(json.dumps(data)).hexdigest()
if lastAroundChecksum != checksum:
socketio.emit('parking', data)
lastAroundChecksum = checksum
time.sleep(0.2)
def getImage():
camera.resolution = (HEIGHT, WIDTH)
errors = False
im = np.empty(( WIDTH, HEIGHT, 3), dtype=np.uint8)
camera.start_preview(fullscreen = False, window = (0, 100, CP_WIDTH, CP_HEIGHT))
camera.capture(im, 'bgr', use_video_port = True)
#cv2.imshow('yolov3-tiny', im)
#key = cv2.waitKey(5)
im = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
im = im.reshape([-1, WIDTH, HEIGHT , CHANNEL])
dist = getDistance()
if(dist < MINIMUM_DISTANCE):
errors = True
return im, errors
def poll_around():
global lastAroundChecksum, isFrontAssistActive
if socketio != None:
dist = int(ultrasonic.getDistance())
l = robot.irLeft()
r = robot.irRight()
c = robot.irCentre()
ll = robot.irLeftLine()
rl = robot.irRightLine()
if dist <= 10 or l or r or c:
isFrontAssistActive = True
motor.execute("stop", None)
else:
isFrontAssistActive = False
data = {'d': dist, 'l': l, 'c': c,'r': r, 'll': ll, 'rl': rl, 'fa': isFrontAssistActive}
checksum = hashlib.sha224(json.dumps(data)).hexdigest()
if lastAroundChecksum != checksum:
socketio.emit('parking', data)
lastAroundChecksum = checksum
time.sleep(0.2)
# led.offLED(pinLed)
a = True
b = True
c = True
d = True
f = True
g = True
h = True
i = True
j = True
sensor_value = lightSensor.getSeuil(light_sensor)
distanceUltrason = ultrasonic.getDistance(pinUltraSon)
loudness_sound = loudnessSensor.getClap(loudness_sensor)
print(loudness_sound)
if (sensor_value < 450):
if(distanceUltrason < 50):
#Enregistrement Passage#
mon_fichier2 = open("Passage.txt", "r")
contenu2 = mon_fichier2.read()
mon_fichier2 = open("Passage.txt", "w")
nb2 = int(contenu2)
val2 = nb2 + 1
mon_fichier2.write(str(val2))
r_head = rtimulsm.getHeading() #rtimulsm
if r_head is None:
r_head = last_head
last_head = r_head
#check if the gate is complete
if dist < 2.5:
print 'reached'
gate[2] = True
# print dist, head, r_head
#get how to move
rotate_by = head - r_head
turn_direction = True if abs(rotate_by) >= 180 else False #true means clockwise
#Ultrasonic conditions
us_leftf = ultrasonic.getDistance(echolf, triggerlf)
us_rightf = ultrasonic.getDistance(echorf, triggerf)
us_lefts = ultrasonic.getDistance(echols, tiggerls)
us_rights = ultrasonic.getDistance(echors, triggerrs)
#Magneto conditions
if rotate_by < 15 and rotate_by > -15:
rotate_by = 0
rotate_by = abs(rotate_by)
# print dist, rotate_by, "Clockwise" if turn_direction==True else "Anti-Clockwise"
# print dist
if rotate_by == 0:
rover_core.forward()
elif turn_direction == True and allow_right == True:
rover_core.right0()
elif turn_direction == False and allow_left == True:
def get_ultrasonic():
dist = ultrasonic.getDistance()
return jsonify({ 'dist':dist})
def get_ultrasonic():
dist = ultrasonic.getDistance()
return jsonify({ 'dist':dist})
def interactiveControl():
setupInteractiveControl()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = (HEIGHT, WIDTH)
camera.start_preview(fullscreen=False,
window=(200, 0, CP_WIDTH, CP_HEIGHT))
command = 'idle'
start_time = time.time()
now = 0
while (now <= TRAIN_TIME):
now = time.time() - start_time
desired_target = np.array([[1, 0, 0]])
input_img = np.empty((WIDTH, HEIGHT, 3), dtype=np.uint8)
camera.capture(input_img, 'bgr', use_video_port=True)
input_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2GRAY)
input_img = input_img.reshape([-1, WIDTH, HEIGHT, CHANNEL])
up_key, down, left, right, change, stop = getKeys()
getDistance()
if stop:
break
if change:
command = 'idle'
if up_key:
command = 'forward'
desired_target = np.array([[1, 0, 0]])
t1 = Thread(target=forward, args=(FB_TIME, ))
t1.start()
model.fit(x=input_img,
y=desired_target,
epochs=1,
verbose=0)
t1.join()
elif down:
command = 'reverse'
reverse(FB_TIME)
append = lambda x: command + '_' + x if command != 'idle' else x
if left:
command = append('left')
desired_target = np.array([[0, 0, 1]])
t2 = Thread(target=lef, args=(LR_TIME, ))
t2.start()
model.fit(x=input_img,
y=desired_target,
epochs=1,
verbose=0)
t2.join()
elif right:
command = append('right')
desired_target = np.array([[0, 1, 0]])
t3 = Thread(target=righ, args=(LR_TIME, ))
t3.start()
model.fit(x=input_img,
y=desired_target,
epochs=1,
verbose=0)
t3.join()
print(command)
print('Time left : ', (TRAIN_TIME - now), ' s')
clock.tick(0)
pygame.quit()
print "B {0}".format(B)
print "C {0}".format(C)
print "D {0}".format(D)
return A, B, C, D
# Start reading the conroller input.
def drive(A, B, C, D):
# Run motor A.
p1.SetMotor1(A)
# Run motor B.
p1.SetMotor2(B)
# Run motor C.
p2.SetMotor1(C)
# Run motor D.
p2.SetMotor2(D)
# Drive slowly forwards until the distance sensor reads 3 cm.
while ultrasonic.getDistance(23, 24) > 7:
A, B, C, D = setSpeeds(0, 30, 0) # Call the setSpeeds function to set the four motor speeds.
drive(A, B, C, D)
print("Still")
# Stop because the robot is at the wall.
turnOffMotors()
### End of program. ###
