def __init__(self, in1=13, in2=12, ena=6, in3=21, in4=20, enb=26):
self.motorL = motor.Motor(in1, in2, ena) #motor LEFT
self.motorR = motor.Motor(in3, in4, enb) #motor RIGHT
self.servoLR = servos.Servo() #servo LEFT RIGHT
self.servoUD = servos.Servo(chan=1, centerVal=1800)
self.servoUD.stop()
self.stop() #servo UP DOWN
import servos
s = servos.Servo('rudder', 1)
s.set_position(77)
from threading import Thread
import logging
import cv2
import vision
import gestures
import servos
import os
app = Flask(__name__)
ask = Ask(app, '/')
logging.getLogger("flask_ask").setLevel(logging.DEBUG)
threads = []
feed = cv2.VideoCapture(0)
servo0 = servos.Servo(250, 600, 0)
servo1 = servos.Servo(527, 225, 1)
servo2 = servos.Servo(154, 382, 2)
servo3 = servos.Servo(105, 620, 3)
light_flag = False
gestures.home([servo0, servo1, servo2, servo3])
gestures.wake_up([servo1, servo2, servo3])
@ask.intent('LightOnOff', mapping={'OnOff': 'state'})
def turn_on_off(state):
global light_flag
if state == 'on':
if light_flag:
return statement('Are you blind?')
# unserialized graph_def
with tf.gfile.GFile(frozen_graph_filename, "rb") as f:
graph_def = tf.GraphDef()
graph_def.ParseFromString(f.read())
with tf.Graph().as_default() as graph:
# The name var will prefix every op/nodes in your graph
# Since we load everything in a new graph, this is not needed
tf.import_graph_def(graph_def)
return graph
graph = load_graph('./Imitation_better.pb')
pwm = Adafruit_PCA9685.PCA9685()
servo0 = servos.Servo(250, 600, 0)
servo1 = servos.Servo(120, 538, 1)
servo2 = servos.Servo(154, 382, 2)
servo3 = servos.Servo(105, 620, 3)
pwm.set_pwm_freq(60)
servo0.set_pos(0)
servo1.set_pos(0)
servo2.set_pos(0)
servo3.set_pos(0)
def set_servos(positions, coords):
# Set default variables to load
x = graph.get_tensor_by_name('import/vector_observation:0')
y = graph.get_tensor_by_name('import/action:0')
def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.RawTextHelpFormatter)
parser.add_argument('--device-model-id', '--device_model_id', type=str,
metavar='DEVICE_MODEL_ID', required=False,
help='the device model ID registered with Google')
parser.add_argument('--project-id', '--project_id', type=str,
metavar='PROJECT_ID', required=False,
help='the project ID used to register this device')
parser.add_argument('--device-config', type=str,
metavar='DEVICE_CONFIG_FILE',
default=os.path.join(
os.path.expanduser('~/.config'),
'googlesamples-assistant',
'device_config_library.json'
),
help='path to store and read device configuration')
parser.add_argument('--credentials', type=existing_file,
metavar='OAUTH2_CREDENTIALS_FILE',
default=os.path.join(
os.path.expanduser('/home/pi/.config'),
'google-oauthlib-tool',
'credentials.json'
),
help='path to store and read OAuth2 credentials')
parser.add_argument('-v', '--version', action='version',
version='%(prog)s ' + Assistant.__version_str__())
args = parser.parse_args()
with open(args.credentials, 'r') as f:
credentials = google.oauth2.credentials.Credentials(token=None,
**json.load(f))
device_model_id = None
last_device_id = None
try:
with open(args.device_config) as f:
device_config = json.load(f)
device_model_id = device_config['model_id']
last_device_id = device_config.get('last_device_id', None)
except FileNotFoundError:
pass
if not args.device_model_id and not device_model_id:
raise Exception('Missing --device-model-id option')
# Re-register if "device_model_id" is given by the user and it differs
# from what we previously registered with.
should_register = (
args.device_model_id and args.device_model_id != device_model_id)
device_model_id = args.device_model_id or device_model_id
servo0 = servos.Servo(250, 600, 0)
servo1 = servos.Servo(120, 538, 1)
servo2 = servos.Servo(154, 382, 2)
servo3 = servos.Servo(105, 620, 3)
servo0.set_pos(0)
servo1.set_pos(0)
servo2.set_pos(0)
servo3.set_pos(0)
servo3.set_pos(0.5)
time.sleep(0.1)
servo3.set_pos(-0.5)
time.sleep(0.1)
servo3.set_pos(0.25)
time.sleep(0.1)
servo3.set_pos(-0.25)
time.sleep(0.1)
servo3.set_pos(0)
with Assistant(credentials, device_model_id) as assistant:
events = assistant.start()
device_id = assistant.device_id
print('device_model_id:', device_model_id)
print('device_id:', device_id + '\n')
# Re-register if "device_id" is different from the last "device_id":
if should_register or (device_id != last_device_id):
if args.project_id:
register_device(args.project_id, credentials,
device_model_id, device_id)
pathlib.Path(os.path.dirname(args.device_config)).mkdir(
exist_ok=True)
with open(args.device_config, 'w') as f:
json.dump({
'last_device_id': device_id,
'model_id': device_model_id,
}, f)
else:
print(WARNING_NOT_REGISTERED)
for event in events:
process_event(event)