steer_target = -steer_target * STEER_CORRECTION
if car_speed > MIN_CAR_SPEED_TO_STEER:
can_interface.run(steer_target)
prints_can = "CAN DATA:\n"
prints_can += f" Motor speed: {motor_rpm} RPM\n"
prints_can += f" Car speed: {car_speed:.2f} m/s\n"
steer_actual = can_interface.steering_sensor
car_speed = can_interface.car_speed
motor_rpm = can_interface.motor_rpm
steer_target_last = steer_target
# TODO put prints in a thread
os.system("clear")
print(prints_input, prints_controller, prints_can,
f"Total time: {(time()-time_start)*1000:>5.0f}")
if SHOW_IMG:
cv2.imshow("frame", cv2.resize(img, (640, 480)))
if cv2.waitKey(1) == ord('q'):
break
if SHOW_VIEWER:
viewer.run(
[car_pos, [0, 0, 0, math.radians(steer_target)]],
predicted_path, blue, yellow, middle_points, blue_all,
yellow_all, fov_points)
except KeyboardInterrupt:
print("Keyboard interruption")
exit()
# -*- coding: utf-8 -*-
import viewer
viewer.run("odemis")
# -*- coding: utf-8 -*-
import viewer
viewer.run("delphi")
(0,1,2,AUSTIN), (3,2,1,AUSTIN), \
(0,4,1,SALMON), (1,4,5,SALMON), \
(2,3,7,SALMON), (2,7,6,SALMON)]
cube1 = wireframe.Wireframe(cube_nodes, cube_faces)
cube1.rotate_y(0.785398)
cube1.rotate_x(-0.523599)
cube_nodes = [(x,y,z) for x in (CENTER_X+100, CENTER_X+200) \
for y in (CENTER_Y-50, CENTER_Y+50) \
for z in (-50, 50)]
cube_faces = [(0,2,6,SEA), (0,6,4,SEA), \
(7,3,1,SEA), (1,5,7,SEA), \
(4,6,7,LIME), (7,5,4,LIME), \
(0,1,2,LIME), (3,2,1,LIME), \
(0,4,1,OLIVE), (1,4,5,OLIVE), \
(2,3,7,OLIVE), (2,7,6,OLIVE)]
cube2 = wireframe.Wireframe(cube_nodes, cube_faces)
print("Created cubes!\n")
print("Creating viewer...")
viewer = viewer.Viewer(WIDTH, HEIGHT)
viewer.add_wireframe(cube1)
viewer.add_wireframe(cube2)
print("Created viewer!\n")
print("Running...")
viewer.run()
print("Done!")
