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 main(): """get data, then predict the data, edit data, then control the car""" global model, graph model_loaded = glob.glob('model/*.h5') for single_model in model_loaded: model = load_model(single_model) graph = tf.get_default_graph() try: with picamera.PiCamera(resolution = (160,120)) as camera: # uncomment this line and the camera images will be upside down # camera.vflip = True time.sleep(2) output = ProcessOutput() camera.start_recording(output, format='mjpeg') while not output.done: camera.wait_recording(1) camera.stop_recording() finally: car_control.clean_GPIO()
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()
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() if __name__ == '__main__': global train_labels, train_img, is_capture_running, key print('Capture Thread') print('-' * 50) capture_thread = threading.Thread(target=pi_capture, args=()) capture_thread.setDaemon(True) # 随主线程一起结束 capture_thread.start() car_drive() while is_capture_running: pass print('Done!') car_control.car_stop() car_control.clean_GPIO()
# 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() if __name__ == '__main__': global train_labels, train_img, key print("capture thread") print('-' * 50) capture_thread = threading.Thread(target=pi_capture, args=()) # 开启线程 capture_thread.setDaemon(True) capture_thread.start() my_car_control() while is_capture_running: pass print("Done!") zth_car_control.car_stop() zth_car_control.clean_GPIO()