def car_drive():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1))
car_control.car_stop()
while is_capture_running:
# 获取人输入的驾驶指令
events = pygame.event.get()
for evt in events:
if evt.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed()
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print('Forward')
key = 2
car_control.car_move_forward()
elif key_input[pygame.K_a]:
print('Left')
car_control.car_turn_left()
sleep(0.1)
key = 0
elif key_input[pygame.K_d]:
print('Right')
car_control.car_turn_right()
sleep(0.1)
key = 1
elif key_input[pygame.K_s]:
print('Backward')
car_control.car_move_backward()
sleep(0.1)
key = 3
elif key_input[pygame.K_q] or key_input[pygame.K_e]:
print("Barricade")
car_control.car_stop()
key = 5
elif evt.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print('Forward')
key = 2
car_control.car_turn_straight()
car_control.car_move_forward()
elif key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print('Backward')
key = 3
car_control.car_move_backward()
else:
print('Stop')
car_control.car_stop()
# car_control.clean_GPIO()
car_control.clean_GPIO()
def my_car_control():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1))
car_control.car_stop()
sleep(0.1)
print("Start control!")
while is_capture_running:
# get input from human driver
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed()
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
car_control.car_move_forward()
elif key_input[pygame.K_a]:
print("Left")
car_control.car_turn_left()
sleep(0.1)
key = 0
elif key_input[pygame.K_d]:
print("Right")
car_control.car_turn_right()
sleep(0.1)
key = 1
elif key_input[pygame.K_s]:
print("Backward")
car_control.car_move_backward()
key = 3
elif key_input[pygame.K_k]:
car_control.car_stop()
elif event.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
car_control.car_turn_straight()
car_control.car_move_forward()
elif key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
car_control.car_move_backward()
else:
print("Stop")
car_control.car_stop()
#car_control.cleanGPIO()
car_control.cleanGPIO()
def control_car(action_num):
"""out put the char and call car_control(we used before)"""
if action_num == 0:
print("Left")
car_control.car_turn_left()
time.sleep(0.25)
elif action_num == 1:
print("Right")
car_control.car_turn_right()
time.sleep(0.25)
elif action_num == 2:
car_control.car_move_forward()
print('Forward')
elif action_num == 3:
car_control.car_move_backward()
print('Backward')
else:
car_control.car_stop()
print('Stop')
# """将数组编码的整数转换为对应的数字"""
# for i in range(6):
# if prediction_array[0][i] == prediction_array.max():
# return i
# return 2
def car_drive(action_num):
if action_num = 0:
print("Left")
car_control.car_turn_left()
time.sleep(0.25)
elif action_num == 1:
print("Right")
car_control.car_turn_right()
time.sleep(0.25)
elif action_num == 2:
car_control.car_move_forward()
print('Forward')
elif action_num == 3:
car_control.car_move_backward()
print('Backward')
elif action_num == 5:
car_control.car_stop()
print("Barricade")
else:
car_control.car_stop()
print('Stop')
def my_car_control():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1)) # 窗口
zth_car_control.car_stop()
sleep(0.1)
print("Start control!")
angle = 90
while is_capture_running:
# get input from human driver
for event in pygame.event.get():
# 判断事件是不是按键按下的事件
if event.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed() # 可以同时检测多个按键
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
# 按下前进，保存图片以2开头
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
zth_car_control.car_move_forward()
# 按下左键，保存图片以0开头
elif key_input[pygame.K_a]:
print("Left")
angle = angle - 5
zth_car_control.car_turn_left(angle)
sleep(0.1)
key = 0
# 按下d右键，保存图片以1开头
elif key_input[pygame.K_d]:
print("Right")
angle = angle + 5
zth_car_control.car_turn_right(angle)
sleep(0.1)
key = 1
# 按下s后退键，保存图片为3开头
elif key_input[pygame.K_s]:
print("Backward")
zth_car_control.car_move_backward()
key = 3
# 按下k停止键，停止
elif key_input[pygame.K_k]:
zth_car_control.car_stop()
# 检测按键是不是抬起
elif event.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
# w键抬起，轮子回正
#if key_input[pygame.K_w] and not key_input[pygame.K_a] and not key_input[pygame.K_d]:
# print("Forward")
# key = 2
# zth_car_control.car_turn_straight()
#zth_car_control.car_move_forward()
# s键抬起
if key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
zth_car_control.car_move_backward()
else:
print("Stop")
zth_car_control.car_stop()
#car_control.cleanGPIO()
zth_car_control.clean_GPIO()