reset_active = False # csak arra van hasznalva, hogy skippelje a vonalakat pause_event = threading.Event() # magyarazat: lasd. gateway pause_event.set() # not blocking by default; True = not paused, False = paused picar.setup() REFERENCES = [394, 329, 395, 402, 397] #REFERENCES = [270,290,300,290,270] #REFERENCES = [330,330,330,330,330] refFile = "../referenceConfig" fw = front_wheels.Front_Wheels(db='../wheel_config') #fw.debug = True bw = back_wheels.Back_Wheels(db='../wheel_config') forwardSpeed = carconfig.getForwardSpeed() lf = Line_Follower.Line_Follower() fw.ready() bw.ready() #45 fw.turning_max = 50 logging.basicConfig(filename='car.log', level=logging.DEBUG, \ format="%(asctime)s %(message)s:") logging.info("log started") '''
#!/usr/bin/env python import rospy from picar import front_wheels, back_wheels from picar.SunFounder_PCA9685 import Servo import picar from time import sleep import numpy as np from std_msgs.msg import Float64 bw = back_wheels.Back_Wheels() fw = front_wheels.Front_Wheels() pan_servo = Servo.Servo(1) tilt_servo = Servo.Servo(2) picar.setup() bw.speed = 0 fw.turn(90) pan_servo.write(90) tilt_servo.write(90) motor_speed = 100 curr_speed = 0 curr_dir = 0 def fw_movement(data): curr_speed = data.data if curr_speed > 0: bw.speed = int(round(curr_speed)) bw.backward()
picar.setup() REFERENCES = [200, 200, 200, 200, 200] #calibrate = True calibrate = False forward_speed = 80 backward_speed = 70 turning_angle = 40 max_off_track_count = 40 delay = 0.0005 fw = front_wheels.Front_Wheels(db='config') bw = back_wheels.Back_Wheels(db='config') lf = Line_Follower.Line_Follower() lf.references = REFERENCES fw.ready() bw.ready() fw.turning_max = 45 def straight_run(): while True: bw.speed = 70 bw.forward() fw.turn_straight()
def __init__(self): self.fw = front_wheels.Front_Wheels() self.bw = back_wheels.Back_Wheels() self.speed = 30
* Website : www.sunfounder.com * Update : Cavon 2016-09-13 New release ********************************************************************** ''' from django.shortcuts import render_to_response from driver import camera, stream from picar import back_wheels, front_wheels from django.http import HttpResponse from django.http import JsonResponse import picar picar.setup() db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config" fw = front_wheels.Front_Wheels(debug=False, db=db_file) bw = back_wheels.Back_Wheels(debug=False, db=db_file) cam = camera.Camera(debug=False, db=db_file) cam.ready() bw.ready() fw.ready() SPEED = 60 bw_status = 0 print stream.start() def home(request): return render_to_response("base.html")
from control.utils import Capture from picar import back_wheels, front_wheels import picar import json import cv2 import git import glob import os import logging try: picar.setup() fw = front_wheels.Front_Wheels(debug=False, db=settings.CONFIG_FILE) bw = back_wheels.Back_Wheels(debug=False, db=settings.CONFIG_FILE) cam = camera.Camera(debug=False, db=settings.CONFIG_FILE) cam.ready() bw.ready() fw.ready() straight_angle = fw._straight_angle min_angle = fw._min_angle max_angle = fw._max_angle except: fw = None bw = None cam = None straight_angle = 90 min_angle = 45 max_angle = 135 print('[!] Cannot setup picar, are your running on a Raspberry Pi?')
class PiCarController: force_turning = 0 # 0 = random direction, 1 = force left, 2 = force right, 3 = orderdly fw = front_wheels.Front_Wheels(db='config') bw = back_wheels.Back_Wheels(db='config') fw.turning_max = 45 forward_speed = 100 backward_speed = 100 back_distance = 10 turn_distance = 20 timeout = 10 last_angle = 90 last_dir = 0 turning_angle = 8 current_angle = 100 moving = False turning = False def debug(self, func): print(func) print("is moving - {}".format(self.moving)) print("is turning - {}".format(self.turning)) def on_press(self, key): self.debug("on_press") if key in [Key.up, Key.down, Key.left, Key.right]: if key == Key.down and self.moving is False: self.moving = True print("down") self.bw.backward() self.bw.speed = self.backward_speed elif key == Key.up and self.moving is False: print("up") self.moving = True self.bw.forward() self.bw.speed = self.forward_speed elif key == Key.left and self.turning is False: self.turning = True print("left") if self.current_angle - self.turning_angle > 50: self.current_angle -= self.turning_angle self.fw.turn(self.current_angle) elif key == Key.right and self.turning is False: self.turning = True print("right") if self.current_angle + self.turning_angle < 150: self.current_angle += self.turning_angle self.fw.turn(self.current_angle) def on_release(self, key): self.debug("on_release") if key in [Key.up, Key.down, Key.left, Key.right]: if key == Key.down and self.moving is True: self.moving = False print("down - stop") self.bw.stop() elif key == Key.up and self.moving is True: self.moving = False print("up - stop") self.bw.stop() elif key == Key.left and self.turning is True: self.turning = False print("left - stop") elif key == Key.right and self.turning is True: self.turning = False print("right - stop") if key == Key.esc: # Stop listener return False