(height, width, depth) = obs.shape
at_Stop_Line = False
time_after_stop = 20
lower_red = np.array([140, 20, 20])
upper_red = np.array([255, 120, 140])
turn_right = False
turn_left = False
time_at_curve = 0
while True:
k_p = 40 #Default=40 60
k_d = 10 #Defautl=10 30
speed = 0.3 #Default=0.3 max = 1
if turn_right:
i, j = env.get_grid_coords(env.cur_pos)
x, _, z = env.get_dir_vec()
x = round(x)
z = round(z)
j_rounded = j + z
i_rounded = i + x
direction2 = None
print(x, z, 'Direzione presa')
if x == 0 and z == 1:
direction2 = 'S'
elif x == 0 and z == -1:
direction2 = 'N'
elif x == 1 and z == 0:
direction2 = 'E'
elif x == -1 and z == 0:
direction2 = 'O'
env = gym.make(args.env_name)
obs = env.reset()
env.render()
total_reward = 0
while True:
lane_pose = env.get_lane_pos2(env.cur_pos, env.cur_angle)
distance_to_road_center = lane_pose.dist
angle_from_straight_in_rads = lane_pose.angle_rad
#####
info = env.get_agent_info()
i, j = env.get_grid_coords(info['Simulator']['cur_pos'])
print((i,j))
print(env._get_tile(i,j))
#####
###### Start changing the code here.
# TODO: Decide how to calculate the speed and direction.
k_p = 5#10
k_d = 2#1
# The speed is a value between [0, 1] (which corresponds to a real speed between 0m/s and 1.2m/s)
speed = 0.2 # TODO: You should overwrite this value
# angle of the steering wheel, which corresponds to the angular velocity in rad/s
