"channel": 1,
"side": 0,
"direction": 1
},
{
"channel": 2,
"side": 1,
"direction": -1
},
{
"channel": 3,
"side": 1,
"direction": 1
},
]
dt = drivetrain.DriveTrain(m, dt_motors)
spinner_servo = {"channel": 4, "direction": 1}
spinner = spinner.Spinner(m, spinner_servo)
tilter_servo = {"channel": 5, "direction": -1}
tilter = tilter.Tilter(m, tilter_servo)
releaser_servos = {"test1": {"channel": 6}, "test2": {"channel": 7}}
releaser = releaser.Releaser(m, releaser_servos)
j = xbox.Joystick()
# Wrapping the robot loop in a try/finally structure makes sure that the robot stops
# moving if your code errors out or the robot loop completes.
try:
import camera
import linetracker
import time
import torch
import numpy as np
from PIL import Image
from models import FeatureExtractor, PolicyNetwork
from agent import Agent
timestep = 1 # Seconds
if __name__ == "__main__":
print("Initializing objects")
dt = drivetrain.DriveTrain()
cam = camera.Camera()
lt = linetracker.LineTracker()
input_shape = (256, 256, 3) # Should be (h, w, c)
num_actions = 2
fe_filters = 4
kernel_size = 3
action_range = [[0, 100], [-60, 60]]
agent = Agent(input_shape, num_actions, fe_filters, kernel_size,
action_range)
def robot_train(dt, agent, cam, lt, max_episodes, max_steps):
# dt = drivetrain, cam = camera, lt = line tracker
episode_rewards = []
def run(self):
""" Main Running loop controling bot mode and menu state """
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message('Press 1+2 \n')
self.lcd.message('On Wiimote')
# Initiate the drivetrain
self.drive = drivetrain.DriveTrain(pwm_i2c=0x40)
self.wiimote = None
try:
self.wiimote = Wiimote()
except WiimoteException:
logging.error("Could not connect to wiimote. please try again")
if not self.wiimote:
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message('Wiimote \n')
self.lcd.message('Not Found' + '\n')
# Constantly check wiimote for button presses
loop_count = 0
while self.wiimote:
buttons_state = self.wiimote.get_buttons()
nunchuk_buttons_state = self.wiimote.get_nunchuk_buttons()
joystick_state = self.wiimote.get_joystick_state()
# logging.info("joystick_state: {0}".format(joystick_state))
# logging.info("button state {0}".format(buttons_state))
# Always show current menu item
# logging.info("Menu: " + self.menu[self.menu_state])
if loop_count >= self.lcd_loop_skip:
# Reset loop count if over
loop_count = 0
self.lcd.clear()
if self.shutting_down:
# How current menu item on LCD
self.lcd.message('Shutting Down Pi' + '\n')
else:
# How current menu item on LCD
self.lcd.message(self.menu[self.menu_state] + '\n')
# If challenge is running, show it on line 2
if self.challenge:
self.lcd.message('[' + self.challenge_name + ']')
# Increment Loop Count
loop_count = loop_count + 1
# Test if B button is pressed
if joystick_state is None or (buttons_state & cwiid.BTN_B) or (
nunchuk_buttons_state & cwiid.NUNCHUK_BTN_Z):
# No nunchuk joystick detected or B or Z button
# pressed, must go into neutral for safety
logging.info("Neutral")
self.set_neutral(self.drive, self.wiimote)
else:
# Enable motors
self.set_drive(self.drive, self.wiimote)
if ((buttons_state & cwiid.BTN_A) or (buttons_state & cwiid.BTN_UP)
or (buttons_state & cwiid.BTN_DOWN)):
# Looking for state change only
if not self.menu_button_pressed and (buttons_state
& cwiid.BTN_A):
# User wants to select a menu item
self.menu_item_selected()
elif not self.menu_button_pressed and (buttons_state
& cwiid.BTN_UP):
# Decrement menu index
self.menu_state = self.menu_state - 1
if self.menu_state < 0:
# Loop back to end of list
self.menu_state = len(self.menu) - 1
logging.info("Menu item: {0}".format(
self.menu[self.menu_state]))
elif not self.menu_button_pressed and (buttons_state
& cwiid.BTN_DOWN):
# Increment menu index
self.menu_state = self.menu_state + 1
if self.menu_state >= len(self.menu):
# Loop back to start of list
self.menu_state = 0
logging.info("Menu item: {0}".format(
self.menu[self.menu_state]))
# Only change button state AFTER we have used it
self.menu_button_pressed = True
else:
# No menu buttons pressed
self.menu_button_pressed = False
time.sleep(0.05)
