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()
Ejemplo n.º 2
0
def main():
	wm=wimote.connect(Led)
	while True:
		button=wimote.whichbutton(wm)
		time.sleep(0.05)
		wm.rumble=False
	
			
		#Moving Forwards		
		if button==3:
			distance_front = usonic.reading(Trigger_front,Echo_front)
			print distance_front
			if distance_front < Collision:
				wm.rumble=True
				#led.off(Led)
				motor.stop()
			elif distance_front >= Collision:
				#led.on(Led)
				motor.forward()
		#Reverse
		if button==4:
			motor.reverse()
		if button==7:
			motor.cleanup()
			led.cleanup()
			usonic.cleanup()
			sys.exit()
		if button==None:
			led.off(Led)
			motor.stop()
Ejemplo n.º 3
0
def func_sensor(t, hu, p, counter, max_num, move_time, stabilizer,
                current_rotate_position, rotate_time, temp_threshold,
                pressure_threshold, humid_threshold):

    # bool to ensure only one time mvement each time we run this function
    unmove = True
    if t > temp_threshold and counter < max_num and unmove:
        current_rotate_position = angle_fix(current_rotate_position,
                                            rotate_time)
        reverse(
            move_time
        )  # set move_time manually here to control the time of operation
        counter = counter + 1
        unmove = False
    elif hu > humid_threshold and counter < max_num and stabilizer and unmove:
        current_rotate_position = angle_fix(current_rotate_position,
                                            rotate_time)
        reverse(
            move_time
        )  # set x move_time manually here to control the time of operation
        counter = counter + 1
        stabilizer = False
        unmove = False

    elif hu > 140 and counter < max_num and unmove:  # humidity toward dangerous level,backward without waiting
        current_rotate_position = angle_fix(current_rotate_position,
                                            rotate_time)
        reverse(
            move_time
        )  # set x move_time manually here to control the time of operation
        counter = counter + 1
        stabilizer = False
        unmove = False
    elif p > pressure_threshold and counter < max_num and unmove:
        current_rotate_position = angle_fix(current_rotate_position,
                                            rotate_time)
        reverse(
            move_time
        )  # set move_time manually here to control the time of operation
        counter = counter + 1
        unmove = False
    else:
        pass
    return stabilizer, counter, current_rotate_position
Ejemplo n.º 4
0
def reverse():
    motor.reverse(1)
Ejemplo n.º 5
0
def reverse():
	motor.reverse(1)
Ejemplo n.º 6
0
#!/usr/bin/python
#coding: utf8

import motor
import define
import time

if __name__ == '__main__':
    motor = MoterClass()
    motor.forward()
    sleep(3)
    motor.reverse()
    sleep(3)
    motor.left()
    sleep(3)
    motor.right()
    sleep(3)
    motor.stop()
    sleep(3)
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()
Ejemplo n.º 8
0
        for i in range(hats):
            hat = joystick.get_hat(i)
            textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)))
        textPrint.unindent()

        textPrint.unindent()

    if joystick.get_axis(4) > float(0) and joystick.get_axis(5) > float(0):
        pass

    elif joystick.get_axis(4) > float(0):
        motor.forward(1 / 4)

    elif joystick.get_axis(5) > float(0):
        motor.reverse(1 / 4)

    if joystick.get_button(3) == 1:
        done = True

    # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT

    # Go ahead and update the screen with what we've drawn.
    pygame.display.flip()

    # Limit to 20 frames per second
    clock.tick(20)

# Close the window and quit.
# If you forget this line, the program will 'hang'
# on exit if running from IDLE.