def setup():
global api, bw, fw, buzzer, led_green, led_red, mqtt_distance, mqtt_speed, ua
# 1. PiCar setup.
picar.setup()
ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
fw.turning_max = 45
# 2. GPIO pins for buzzer and LED.
GPIO.setmode(GPIO.BCM) # GPIO.BCM mode.
GPIO.setup(PIN_BUZZER, GPIO.OUT) # Buzzer pin.
GPIO.setup(PIN_LED, GPIO.OUT) # LED pins.
GPIO.output(PIN_LED, GPIO.LOW) # Set LED pins to low to turn off LEDs.
buzzer = GPIO.PWM(PIN_BUZZER, 440) # Set buzzer frequency to 440Hz.
led_red = GPIO.PWM(PIN_LED[0], 2000) # Set LED frequencies to 2KHz.
led_green = GPIO.PWM(PIN_LED[1], 2000)
buzzer.start(0)
led_red.start(0)
led_green.start(0)
# 3. Ubidots.
api = ApiClient(token='A1E-priJupwmfAGtVeOjcslK9wAW16HJzO')
mqtt_distance = api.get_variable('59e93a20c03f9748c6bc3d54')
mqtt_speed = api.get_variable('5a092816c03f9706c0205e88')
def __init__(self):
picar.setup()
self.camera = cv2.VideoCapture(-1)
self.fourcc = cv2.VideoWriter_fourcc(*'XVID')
# self.capture_out = cv2.VideoWriter("")
# self.angles_fname = ""
self.camera.set(3, self.__SCREEN_WIDTH)
self.camera.set(4, self.__SCREEN_HEIGHT)
self.pan_servo = picar.Servo.Servo(1)
self.pan_servo.offset = -40 # calibrate servo to center (left, right)
self.pan_servo.write(90)
self.tilt_servo = picar.Servo.Servo(2)
self.tilt_servo.offset = -120 # calibrate servo to center (up, down)
self.tilt_servo.write(90)
logging.debug('Set up back wheels')
self.back_wheels = picar.back_wheels.Back_Wheels()
self.back_wheels.speed = 0 # Speed Range is 0 (stop) - 100 (fastest)
logging.debug('Set up front wheels')
self.front_wheels = picar.front_wheels.Front_Wheels()
self.front_wheels.turning_offset = 20 # calibrate servo to center
self.front_wheels.turn(
90) # Steering Range is 45 (left) - 90 (center) - 135 (right)
def main():
picar.setup()
controller = PiCarController()
# Collect events until released
with Listener(on_press=on_press, on_release=on_release) as listener:
listener.join()
def __init__(self, TimeToSteer = 6, LogInfo = False,forwardSpeed = 40,turnSpeed = 35, confidenceNeeded = 0.90,InitCar = True,distanceToTurn = 50,
distanceToDetectMin = 15, distanceToDetectMax = 70):
# Αρχικοποίηση κινητήρων
if(InitCar):
picar.setup()
self.bw = back_wheels.Back_Wheels()
self.fw = front_wheels.Front_Wheels()
self.PreviousState = RobotState.Initial
self.State = RobotState.Initial
self.NNState = NeuralNetWorkRead.Unknown
self.distance = 0
self.confidence = 0
self.confidenceNeeded = confidenceNeeded
self.lastTime = time.time()
self.curTime = time.time()
self.timeDif = 0
self.distanceToTurn = distanceToTurn
self.TimeToSteer = TimeToSteer
self.FolderName = time.strftime("%Y%m%d-%H%M%S")
self.LogInfo = LogInfo
self.count = 0
self.forwardSpeed = forwardSpeed
self.turnSpeed = turnSpeed
self.distanceToDetectMin = distanceToDetectMin
self.distanceToDetectMax = distanceToDetectMax
self.lastLog = 0
if(LogInfo):
self.logger = logging.getLogger('./' + self.FolderName +'/logs.txt')
fh = logging.FileHandler(self.FolderName + '.html',mode = "w")
self.logger.setLevel(logging.INFO)
self.logger.addHandler(fh)
def __init__(self,
max_steer=40,
max_speed=90,
unit_converter=None,
configfile="config",
virtual=False,
virtual_verbose=False,
initialize=True):
# Use virtual libraries if requested (so we don't get GPIO errors for not running on a Pi)
if not virtual:
import picar
from picar.front_wheels import Front_Wheels
from picar.back_wheels import Back_Wheels
picar.setup()
self.fw = Front_Wheels(db=configfile)
self.bw = Back_Wheels(db=configfile)
else:
from virtual_wheels import Virtual_Front_Wheels as Front_Wheels
from virtual_wheels import Virtual_Back_Wheels as Back_Wheels
self.fw = Front_Wheels(db=configfile, verbose=virtual_verbose)
self.bw = Back_Wheels(db=configfile, verbose=virtual_verbose)
if unit_converter is None:
unit_converter = HardwareUnitConverter(
speed_slope=1,
angle_slope=1) # Assume 1:1 unit relationship by default
self.unit_converter = unit_converter # HardwareUnitConverter class
self.fw.max_turn = max_steer # Max turn radius
self.max_speed = max_speed
self.max_steer = max_steer
if initialize:
self.initialize()
def __init__(self):
picar.setup()
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.bw.speed = 70
self.fw.turning_max = 45
self.forward_speed = 90
self.backward_speed = 70
self.back_distance = 10
self.turn_distance = 20
self.straight = 90
self.movement_dispatch = dict()
self.movement_dispatch[self.FORWARD] = self.accelerate
self.movement_dispatch[self.BACKWARD] = self.decelerate
self.movement_dispatch[self.LEFT] = self.turn_left
self.movement_dispatch[self.RIGHT] = self.turn_right
self.movement_reset = dict()
self.movement_reset[self.FORWARD] = self.stop
self.movement_reset[self.BACKWARD] = self.stop
self.movement_reset[self.LEFT] = self.turn_straight
self.movement_reset[self.RIGHT] = self.turn_straight
self.key_map = dict()
self.bw.stop()
def __init__(
self,
max_turn=45,
configfile="config",
L=0.145,
# kpr=1, kpa=0, kpb=0, kdr=0, kda=0, kdb=0, kir=0, kia=0, kib=0,
# controllers=lambda x: x, min_dt=0.005,
max_picar_speed=80,
max_picar_turn=40,
virtual=False,
verbose=False,
virtual_speedverbose=False):
self.verbose = verbose
# Use virtual libraries if requested (so we don't get GPIO errors for not running on a Pi)
if not virtual:
import picar
from picar.front_wheels import Front_Wheels
from picar.back_wheels import Back_Wheels
picar.setup()
self._fw = Front_Wheels(db=configfile)
self._bw = Back_Wheels(db=configfile)
else:
from virtual_wheels import Virtual_Front_Wheels as Front_Wheels
from virtual_wheels import Virtual_Back_Wheels as Back_Wheels
self._fw = Front_Wheels(db=configfile,
verbose=virtual_speedverbose)
self._bw = Back_Wheels(db=configfile, verbose=virtual_speedverbose)
# Wheel base [m]
self._L = L
# Max turn radius
self._fw.max_turn = max_picar_turn
# Initialize wheels
self._speed = 0 # from 0-100
self._steering = 0 # initalize at no turn angle
self._direction = 1 # wheels set forward
self._fw.ready()
self._bw.ready()
self._bw.forward()
# Controllers for calculating control signals
# self.controller = MyPicarController(v_controllers, gamma_controllers)
# self._rhomyPID = myPID(Kp=kpr, Ki=kir, Kd=kdr)
# self._alphamyPID = myPID(Kp=kpa, Ki=kia, Kd=kda)
# self._betamyPID = myPID(Kp=kpb, Ki=kib, Kd=kdb)
# Set maximum values of control signals -- IN PICAR UNITS (e.g. degrees, not radians)
self.MAX_PICAR_SPEED = max_picar_speed
self.MAX_PICAR_TURN = max_picar_turn
# Minimum loop delay
# self.min_dt = min_dt
# Initialize WorldState and BicycleModel
self._my_cartesian_pose = CartesianPose(0, 0, 0)
self._goal_cartesian_pose = CartesianPose(0, 0, 0)
self._my_bicycle_model = BicycleModel(rho=0, alpha=0, beta=0)
def __init__(self):
picar.setup()
self.is_stopped = False
self.bw = back_wheels.Back_Wheels()
self.fw = front_wheels.Front_Wheels()
self.motor_speed = 0
self.turning_direction = ""
self.angle = self.DEFAULT_ANGLE
def __init__(self):
picar.setup()
db_file = "autonomous_car/picar_v/config"
self.fw = front_wheels.Front_Wheels(debug=False, db=db_file)
self.bw = back_wheels.Back_Wheels(debug=False, db=db_file)
self.bw.ready()
self.fw.ready()
self.bw_status = 0
def __init__(self):
self.fw = front_wheels.Front_Wheels(debug=True)
self.max_right = 135
self.max_left = 45
self.straight = 90
self.current_angle = 90
self.direction = 1
self.delta = 5 # number of degrees per turn
picar.setup()
def __init__(self):
picar.setup()
self.camera = cv2.VideoCapture(-1)
self.camera.set(3, self.__SCREEN_WIDTH)
self.camera.set(4, self.__SCREEN_HEIGHT)
self.pan_servo = picar.Servo.Servo(1)
self.pan_servo.offset = -40 # calibrate servo to center (left, right)
self.pan_servo.write(90)
self.tilt_servo = picar.Servo.Servo(2)
self.tilt_servo.offset = -120 # calibrate servo to center (up, down)
self.tilt_servo.write(90)
def __init__(
self,
camero=None,
):
""" Init camera and wheels"""
logging.info('Creating a DeepPiCar...')
#jimmy setup motor: chnnel 0 for front whell ,1 for( horizontal) ultra,2 for (vitical) camera
#GPIO.setwarnings(False)
#GPIO.setmode(GPIO.BOARD)
#turn.ahead()
picar.setup()
#linsensorsetup()
logging.debug('Set up camera')
if camero == None:
self.camera = cv2.VideoCapture(-1)
else:
self.camera = camero
#self.camera.set(3, self.__SCREEN_WIDTH)
#self.camera.set(4, self.__SCREEN_HEIGHT)
#self.pan_servo = picar.Servo.Servo(1)
#self.pan_servo.offset = -30 # calibrate servo to center
#self.pan_servo.write(90)
#self.tilt_servo = picar.Servo.Servo(2)
#self.tilt_servo.offset = 20 # calibrate servo to center
#self.tilt_servo.write(90)
logging.debug('Set up back wheels')
#self.back_wheels = picar.back_wheels.Back_Wheels()
#self.back_wheels.speed = 30 # Speed Range is 0 (stop) - 100 (fastest)
#self.back_wheels.forward()
#self.back_wheels.backward()
logging.debug('Set up front wheels')
#self.front_wheels = picar.front_wheels.Front_Wheels()
#self.front_wheels.turning_offset = -25 # calibrate servo to center
#self.front_wheels.turn(90) # Steering Range is 45 (left) - 90 (center) - 135 (right)
self.lane_follower = HandCodedLaneFollower(self)
self.traffic_sign_processor = ObjectsOnRoadProcessor(self)
# lane_follower = DeepLearningLaneFollower()
self.fourcc = cv2.VideoWriter_fourcc(*'XVID')
datestr = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
#self.video_orig = self.create_video_recorder('/home/pi/data/tmp/car_video%s.avi' % datestr)
self.video_lane = self.create_video_recorder(
'/home/pi/data/tmp/car_video_lane%s.avi' % datestr)
#self.video_objs = self.create_video_recorder('/home/pi/data/tmp/car_video_objs%s.avi' % datestr)
logging.info('Created a DeepPiCar')
async def start(self):
loop = asyncio.get_running_loop()
transport, protocol = await loop.create_datagram_endpoint(
lambda: DatagramEndpointInterface(self.message_handler),
local_addr=(self.address, self.port))
picar.setup()
self.camera_controls.ready()
self.back_wheels.ready()
self.front_wheels.ready()
self.transport = transport
print('CommandsServer - Running on', self.address, self.port)
def __init__(self):
picar.setup()
self.bw=picar.back_wheels.Back_Wheels()
self.fw=picar.front_wheels.Front_Wheels()
self.fw.turning_max=40
self.fw.offset=0
self.bw.speed=0
self.fw.turn(90)
self.calib_mode=False
self.observe("calib_start", self.calib_start)
self.observe("calib_stop", self.calib_stop)
self.observe("calib_left", self.cali_left)
self.observe("calib_right", self.cali_right)
def __init__(self):
self.music = playmusic.MUSIC()
self.steer_count = 0
""" Init camera and wheels"""
logging.info('Creating a DeepPiCar...')
picar.setup()
logging.debug('Set up back wheels')
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.bw.speed = DEFAULT_SPEED
def __init__(self, test_mode=False):
self._test_mode = False if test_mode is False else True
self._controller = InputController()
db_file = "config"
picar.setup()
self.fw = front_wheels.Front_Wheels(debug=False, db=db_file)
self.bw = back_wheels.Back_Wheels(debug=False, db=db_file)
self.bw.ready()
self.fw.ready()
self.fw.calibration()
def __init__(self, max_turn=45, configfile="config", L=0.145,
kpr=1, kpa=0, kpb=0, kdr=0, kir=0,
max_picar_speed=80, max_picar_turn=40,
virtual=False, min_dt=0.005, verbose=False, virtual_verbose=False):
self.verbose = verbose
# Use virtual libraries if requested (so we don't get GPIO errors for not running on a Pi)
if not virtual:
import picar
from picar.front_wheels import Front_Wheels
from picar.back_wheels import Back_Wheels
picar.setup()
self._fw = Front_Wheels(db=configfile)
self._bw = Back_Wheels(db=configfile)
else:
from virtual_wheels import Virtual_Front_Wheels as Front_Wheels
from virtual_wheels import Virtual_Back_Wheels as Back_Wheels
self._fw = Front_Wheels(db=configfile, verbose=virtual_verbose)
self._bw = Back_Wheels(db=configfile, verbose=virtual_verbose)
# Wheel base [m]
self._L = L
# Max turn radius
self._fw.max_turn = max_turn # [deg] In picar's world; in reality 45 maps to around 40, etc
# Initialize wheels
self._v= 0 # from 0-100
self._gamma = 0 # initalize at forward
self._direction = 1
self._fw.ready()
self._bw.ready()
self._bw.forward()
# PID controllers for parameters
self._rhoPID = PID(Kp=kpr, Ki=kir, Kd=kdr)
self._alphaPID = PID(Kp=kpa)
self._betaPID = PID(Kp=kpb)
# Set maximum values of control signals -- IN PICAR UNITS (e.g. degrees, not radians)
self.MAX_PICAR_SPEED = max_picar_speed
self.MAX_PICAR_TURN = max_picar_turn
# Minimum loop delay
self.min_dt = min_dt
# Initialize WorldState and BicycleModel
self._my_worldstate = WorldState(0,0,0)
self._goal_worldstate = WorldState(0,0,0)
self._BM = BicycleModel(0,0,0)
def test():
import picar
picar.setup()
camera = Camera_Control(debug = True)
try:
while True:
test_pan_angle = input("Enter a pan value: ")
test_tilt_angle = input("Enter a tilt value: ")
camera.pan_to(test_pan_angle)
camera.tilt_to(test_tilt_angle)
except KeyboardInterrupt:
camera.pan_straight()
camera.tilt_flat()
def __init__(self):
picar.setup()
self.camera = cv2.VideoCapture(-1)
self.camera.set(3, self.img_width)
self.camera.set(4, self.img_height)
self.back_wheels = picar.back_wheels.Back_Wheels()
self.back_wheels.forward()
self.back_wheels.speed = 0
self.front_wheels = picar.front_wheels.Front_Wheels()
self.front_wheels.turn(90)
self.detect_traffic_objects = DetectObjectsOnRoad(self)
self.calculate_steering_angle = CalculateSteering(self)
def __init__(self, debug=False):
try:
from picar import front_wheels
from picar import back_wheels
import picar
except ImportError:
# the Picar moduls are not available,
# most likely due to the code running outside the Raspberry Pi
raise PicarModulesUnavailableException
picar.setup()
# ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
self.fw = front_wheels.Front_Wheels(db='config')
# self.fw.turning_max = 45
self.fw.debug = debug
self.bw = back_wheels.Back_Wheels(db='config')
self.bw.debug = debug
def __init__(self):
""" Init camera and wheels"""
logging.info('Creating a DeepPiCar...')
picar.setup()
logging.debug('Set up camera')
self.camera = cv2.VideoCapture(-1)
self.camera.set(3, self.__SCREEN_WIDTH)
self.camera.set(4, self.__SCREEN_HEIGHT)
#Unneeded Removed these servos
#self.pan_servo = picar.Servo.Servo(1)
#self.pan_servo.offset = -30 # calibrate servo to center
#self.pan_servo.write(90)
#self.tilt_servo = picar.Servo.Servo(2)
#self.tilt_servo.offset = 20 # calibrate servo to center
#self.tilt_servo.write(90)
logging.debug('Set up back wheels')
self.back_wheels = picar.back_wheels.Back_Wheels()
self.back_wheels.speed = 0 # Speed Range is 0 (stop) - 100 (fastest)
logging.debug('Set up front wheels')
self.front_wheels = picar.front_wheels.Front_Wheels()
self.front_wheels.turning_offset = 15 # calibrate servo to center
self.front_wheels.turn(
90) # Steering Range is 45 (left) - 90 (center) - 135 (right)
#add later mode select with conditional ifs
self.lane_follower = ManualDriveLaneFollower(self)
#self.traffic_sign_processor = ObjectsOnRoadProcessor(self)
#lane_follower = DeepLearningLaneFollower()
self.fourcc = cv2.VideoWriter_fourcc(*'XVID')
datestr = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
self.video_orig = self.create_video_recorder(
'../data/car_video%s.avi' % datestr)
self.video_lane = self.create_video_recorder(
'../data/car_video_lane%s.avi' % datestr)
self.video_objs = self.create_video_recorder(
'../data//car_video_objs%s.avi' % datestr)
logging.info('Created a DeepPiCar')
def __init__(self):
"""
Starts and calibrates PiCar's servos
"""
logging.info('Configuring Herbie')
picar.setup()
logging.debug('Configuring Camera')
self.camera = cv2.VideoCapture(-1)
self.camera.set(3, self.__SCREEN_WIDTH)
self.camera.set(4, self.__SCREEN_HEIGHT)
self.pan_servo = picar.Servo.Servo(1, bus_number=1)
self.pan_servo.offset = -30 # calibrate servo to center
self.pan_servo.write(90)
self.tilt_servo = picar.Servo.Servo(1, bus_number=1)
self.tilt_servo.offset = 20 # calibrate servo to center
self.tilt_servo.write(90)
logging.debug('Calibrating Rear Wheels')
self.rear_wheels = picar.back_wheels.Back_Wheels()
self.rear_wheels.speed = 0 # Speed Range is 0 (stop) - 100 (fastest)
logging.debug('Calibrating Front Wheels')
self.front_wheels = picar.front_wheels.Front_Wheels()
self.front_wheels.turning_offset = -25 # calibrate servo to center
self.front_wheels.turn(
90) # Steering Range is 45 (left) - 90 (center) - 135 (right)
self.lane_follower = LaneKeepAssistSystem(self)
#self.lane_follower = DeepLearningLKAS(self)
self.fourcc = cv2.VideoWriter_fourcc(*'XVID')
datestr = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
self.video_orig = self.create_video_recorder(
'../data/tmp/car_video%s.avi' % datestr)
self.video_lane = self.create_video_recorder(
'../data/tmp/car_video_lane%s.avi' % datestr)
self.video_objs = self.create_video_recorder(
'../data/tmp/car_video_objs%s.avi' % datestr)
logging.info('Herbie Configuration Complete')
def setup():
global fw, bw, cam, SPEED, bw_status, is_setup
if is_setup == True:
return
from .picar_v_video_stream import Vilib
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()
Vilib.camera_start()
SPEED = 60
bw_status = 0
is_setup = True
def __init__(self):
""" Init camera and wheels"""
logging.info('Creating a DeepPiCar...')
picar.setup()
logging.debug('Set up camera')
self.camera = cv2.VideoCapture(-1)
self.camera.set(3, self.__SCREEN_WIDTH)
self.camera.set(4, self.__SCREEN_HEIGHT)
self.pan_servo = picar.Servo.Servo(1)
self.pan_servo.offset = -30 # calibrate servo to center
self.pan_servo.write(90)
self.tilt_servo = picar.Servo.Servo(2)
self.tilt_servo.offset = 20 # calibrate servo to center
self.tilt_servo.write(90)
logging.debug('Set up back wheels')
self.back_wheels = picar.back_wheels.Back_Wheels()
self.back_wheels.speed = 0 # Speed Range is 0 (stop) - 100 (fastest)
logging.debug('Set up front wheels')
self.front_wheels = picar.front_wheels.Front_Wheels()
self.front_wheels.turning_offset = -25 # calibrate servo to center
self.front_wheels.turn(
90) # Steering Range is 45 (left) - 90 (center) - 135 (right)
self.lane_follower = HandCodedLaneFollower(self)
# lane_follower = DeepLearningLaneFollower()
self.fourcc = cv2.VideoWriter_fourcc(*'XVID')
datestr = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
self.video_orig = self.create_video_recorder(
'../data/tmp/car_video%s.avi' % datestr)
self.video_lane = self.create_video_recorder(
'../data/tmp/car_video_lane%s.avi' % datestr)
self.video_objs = self.create_video_recorder(
'../data/tmp/car_video_objs%s.avi' % datestr)
logging.info('Created a DeepPiCar')
def __init__(self):
picar.setup()
self.REFERENCES = [20.5, 25.0, 28.0, 21.5, 20.5]
# self.calibrate = True
self.calibrate = False
self.forward_speed = 40
self.turning_angle = 45
self.delay = 0.0005
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.lf = Line_Follower.Line_Follower()
self.lf.references = self.REFERENCES
self.fw.ready()
self.bw.ready()
self.fw.turning_max = 60
def main():
print('STARTING CAR')
picar.setup()
db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config"
fw = front_wheels.Front_Wheels(debug=True, db=db_file)
bw = back_wheels.Back_Wheels(debug=True, db=db_file)
cam = camera.Camera(debug=True, db=db_file)
cam.ready()
bw.ready()
fw.ready()
cv2Cam = cv2.VideoCapture(0)
# bw.speed = 20
turn_cam_down(cam)
current_state = 'straight'
while True:
print('TAKING PIC')
np_img = take_picture(cv2Cam)
print('CLASSIFYING PIC')
prediction = classify(np_img)
print('CLASSIFICATION: ' + prediction)
if prediction == 'straight':
if current_state == 'veer_left':
turn_straight_from_left(fw) # Overcorrect due to faulty car
else:
turn_straight(fw)
elif prediction == 'right':
turn_right(fw)
elif prediction == 'veer_right':
veer_right(fw)
elif prediction == 'veer_left':
veer_left(fw)
current_state = prediction
print('SLEEPING')
sleep_car(0.05)
print('')
print('')
def __init__(self, initial_speed=_INITIAL_SPEED):
logging.info("Setting up CarControl...")
print("Setting up CarControl ....")
self.initial_speed = initial_speed
picar.setup()
self.back_wheels = picar.back_wheels.Back_Wheels()
self.front_wheels = picar.front_wheels.Front_Wheels()
logging.info("Setting up Back Wheels...")
print("Setting up Back Wheels ....")
self.back_wheels.speed = 0
time.sleep(2)
logging.info("Setting up Front Wheels...")
print("Setting up Front Wheels ....")
self.front_wheels.turning_offset = -25
self.front_wheels.turn(90)
time.sleep(2)
def index():
picar.setup() # needs to be in index() otherwise weird output
top = """<!DOCTYPE HTML>
<html>
<head>
<title>Pi Car</title>
<meta charset="utf-8">
<meta name="description" content="Raspberry Pi control RC car.">
<meta name="author" content="Michael Russell">
<meta name="viewport" content="initial-scale=1.0">
<link rel="shortcut icon" type="image/png" href="static/raspi.png">
</head><body> """
bottom = "</body></html>"
return top + \
render_template('joy.html', key = apikeys.google_map_api,
# need a little more to get rid of the scrollbars
webcam_w=str(webcam_w+20)+"px", webcam_h=str(webcam_h+20)+"px") + \
render_template('snap.html', innerHTML=snap.innerHTML()) + \
bottom
def __init__(self):
# 0 = random direction, 1 = force left, 2 = force right, 3 = orderdly
self.force_turning = 0
picar.setup()
self.ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.fw.turning_max = 45
self.forward_speed = 70
self.backward_speed = 70
self.back_distance = 10
self.turn_distance = 20
self.timeout = 10
self.last_angle = 90
self.last_dir = 0
self.command = xavier_command.STOP
def __init__(self):
picar.setup() #Setup propio de la libreria del Kit
#Se obtiene la cámara abierta por default y se le hace un rezise de width y height
self.camera = cv2.VideoCapture(-1)
self.camera.set(3, self.__SCREEN_WIDTH)
self.camera.set(4, self.__SCREEN_HEIGHT)
#Se pueden omitir/no conectar, en caso de dejar fija la cámara en el soporte, caso de nuestro carrito
#self.pan_servo = picar.Servo.Servo(1)
#self.pan_servo.offset = -30
#self.pan_servo.write(90)
#self.tilt_servo = picar.Servo.Servo(2)
#self.tilt_servo.offset = 20
#self.tilt_servo.write(90)
self.back_wheels = picar.back_wheels.Back_Wheels()
self.back_wheels.speed = 0 # Rango de velocidad PWM 0 (stop) - 100 (fastest)
self.front_wheels = picar.front_wheels.Front_Wheels()
self.front_wheels.turning_offset = -25 # Offset por default del archivo de configuración del kit
self.front_wheels.turn(70) # Ángulo recto a 70° para nstrs, equivalencias 45(izq) 90(centro) 135 (drc)
self.lane_follower = HandCodedLaneFollower(self)
