def __init__(self, configPrefix="camera"):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
# Get config
config = Config()
self.scaling = config.get(f"{configPrefix}.leveling.scaling", 0.012)
config.save()
def __init__(self):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
self.vision = VisionAccessFactory.getSingleton()
# Get config
config = Config()
self.points = config.get("display.graph.numpoints", 500)
config.save()
self.fig, self.ax = plt.subplots()
self.x = np.arange(0, self.points, 1)
self.lines = \
self.ax.plot(self.x, [0.0]*len(self.x), label="F Joystick")[0], \
self.ax.plot(self.x, [0.0]*len(self.x), label="L motor")[0], \
self.ax.plot(self.x, [0.0]*len(self.x), label="L speed")[0], \
self.ax.plot(self.x, [0.0]*len(self.x), label="R motor")[0], \
self.ax.plot(self.x, [0.0]*len(self.x), label="R speed")[0], \
self.ax.plot(self.x, [0.0]*len(self.x), label="Heading")[0], \
self.ax.plot(self.x, [0.0]*len(self.x), label="Vision")[0]
self.values = \
Scaler(self.sensors.joystickAxis(1), scaling=1.0), \
Scaler(self.controls.motor(2), scaling=-1.0), \
Scaler(self.sensors.rateCounter(0), scaling=0.0012), \
Scaler(self.controls.motor(1), scaling=1.0), \
Scaler(self.sensors.rateCounter(1), scaling=0.0012), \
Scaler(self.sensors.yaw(), scaling=1/180.0), \
Scaler(self.vision.getLineHeading(), scaling=1/180.0)
plt.ylabel('value')
plt.legend(loc=(0.01, 0.75))
def __init__(self, title, menuItems, selected):
self.titleFont = ImageFont.truetype("FreeSans.ttf", 14)
self.unselectedFont = ImageFont.truetype("Piboto-Regular.ttf", 10)
self.selectedFont = ImageFont.truetype("FreeSansBold.ttf", 20)
self.title = title
self.menuItems = menuItems
self.selected = selected
# Config
config = Config()
displayDef = config.get("display.config", MenuDisplay.defaultDisplayConfig)
config.save()
# create device
parser = cmdline.create_parser(description='luma arguments')
displayArgs = parser.parse_args(displayDef)
try:
self.device = cmdline.create_device(displayArgs)
except error.Error as e:
parser.error(e)
def __init__(self):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
config = Config()
self.min = config.get("grabber.open", -0.75)
self.max = config.get("grabber.closed", 0.25)
self.speed = config.get("grabber.speed", 0.2)
config.save()
def __init__(self):
# Initialise the IPC classes
self.motorsIPC = MotorControlSharedIPC()
self.motorsIPC.create()
self.currentMotorValues = [0.0]*3
self.servosIPC = ServoControlSharedIPC()
self.servosIPC.create()
self.currentServoValues = [0.0]*32
self.simpleControlsIPC = SimpleControlSharedIPC()
self.simpleControlsIPC.create()
self.currentSimpleValues = [0]*32
# Config
config = Config()
self.pollrate = (1.0 / config.get("redboard.motor.pollrate", 100))
self.delta_torque = self.pollrate * config.get("redboard.motor.accelmax", 4.0)
config.save()
def __init__(self):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
# Common controls
self.grabberControl = GrabberControl()
self.cameraLevellingControl = CameraLevellingControl()
self.zGunControl = ZGunControl()
# Get config
config = Config()
self.pidP = config.get("manual.pid.p", 0.015)
self.pidI = config.get("manual.pid.i", 0.0) #0.001)
self.pidD = config.get("manual.pid.d", 0.0012)
self.proportionalOnMeasure = config.get("manual.pid.pom", False)
self.maxForward = config.get("manual.forward.max", 1.0)
self.maxManualTurn = config.get("manual.turn.max", -15.0)
self.maxHeadingTurn = config.get("manual.headingturn.max", 0.6)
self.maxSimpleTurn = config.get("manual.simpleturn.max", 0.4)
self.cameraTilt = config.get("manual.camera.tilt", 0.15)
config.save()
def __init__(self):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
self.vision = VisionAccessFactory.getSingleton()
# Common controls
self.grabberControl = GrabberControl()
self.cameraLevellingControl = CameraLevellingControl()
self.zGunControl = ZGunControl()
# Get config
config = Config()
self.pidP = config.get("minesweeper.pid.p", 0.015)
self.pidI = config.get("minesweeper.pid.i", 0.0) #0.001)
self.pidD = config.get("minesweeper.pid.d", 0.0012)
self.proportionalOnMeasure = config.get("minesweeper.pid.pom", False)
self.maxForward = config.get("minesweeper.forward.max", 1.0)
self.maxHeadingTurn = config.get("minesweeper.headingturn.max", 0.6)
self.maxManualTurn = config.get("minesweeper.manualturn.max", -15.0)
self.maxFindLightTurn = config.get("minesweeper.findlightturn.max",
-15.0)
self.autoMaxSpeed = config.get("minesweeper.speed", 0.6)
self.cameraTilt = config.get("minesweeper.camera.tilt", 0.22)
self.achievedStopTime = config.get("minesweeper.achieved.stoptime",
5.0) # seconds
self.minDistanceToStop = config.get("minesweeper.achieved.atdistance",
20.0)
self.MoveTimeMin = config.get("minesweeper.movement.mintime",
1.0) # seconds
config.save()
def __init__(self):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
self.vision = VisionAccessFactory.getSingleton()
# Common controls
self.grabberControl = GrabberControl()
self.cameraLevellingControl = CameraLevellingControl()
self.zGunControl = ZGunControl()
# Get config
config = Config()
self.pidP = config.get("heading.pid.p", 0.06)
self.pidI = config.get("heading.pid.i", 0.001)
self.pidD = config.get("heading.pid.d", 0.004)
self.proportionalOnMeasure = config.get("heading.pid.pom", False)
self.maxForward = config.get("heading.forward.max", 1.0)
self.maxManualTurn = config.get("heading.manualturn.max", -15.0)
self.maxHeadingTurn = config.get("heading.headingturn.max", 0.5)
self.constantSpeed = config.get("lava.speed", 0.7)
self.cameraTilt = config.get("lava.camera.tilt", 0.5)
config.save()
from __future__ import print_function
import cv2 as cv
import numpy as np
import argparse
from interfaces.Config import Config
# Get the last known config
config = Config("calibrationDistance.json")
nearest = config.get("distance.analysis.nearest", 130)
horizon = config.get("distance.analysis.horizon", 500)
cameraHeight = config.get("distance.analysis.cameraHeight", 170)
#cameraF = config.get("distance.analysis.camera_f", 1.4)
max_value_horizon = 640
window_capture_name = 'Video Capture'
window_detection_name = 'Calibration'
nearest_name = 'nearest'
horizon_name = 'horizon'
def on_nearest_trackbar(val):
global nearest_name
global nearest
nearest = val
cv.setTrackbarPos(nearest_name, window_detection_name, nearest)
def on_horizon_trackbar(val):
global horizon
global horizon_name
global max_value_horizon
def __init__(self):
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-v",
"--video",
help="path to the (optional) video file")
args = vars(ap.parse_args())
self.recordedVideo = args.get("video", False)
if self.recordedVideo:
self.videoFilenanme = args["video"]
# Get config
config = Config()
self.debugPrint = config.get("minesweeper.analysis.debugPrint", False)
self.analysis_width = config.get("minesweeper.analysis.imagewidth",
480)
self.blur_radius = config.get("minesweeper.analysis.burrradius", 11)
#self.minSize = config.get("minesweeper.analysis.minsize", 10)
self.minWidth = config.get("minesweeper.analysis.minWidth", 15)
self.minHeight = config.get("minesweeper.analysis.minHeight", 10)
# Scale factors for real-world measures
self.angleAdjustment = config.get("minesweeper.analysis.anglescale",
2.6) #1.3#0.55
# define the lower and upper boundaries of the target
# colour in the HSV color space, then initialize the
useCalibrationColours = config.get(
"minesweeper.analysis.useCalibrationColours", True)
if not useCalibrationColours:
useLEDColours = config.get("minesweeper.analysis.useLEDColours",
False)
if useLEDColours:
# For LED:
self.colourTargetLower = tuple(
config.get("minesweeper.analysis.colourTargetLowerLED",
[155, 24, 200
])) #(165,90,100)#(158,60,90) #(160,128,24)
self.colourTargetUpper = tuple(
config.get("minesweeper.analysis.colourTargetUpperLED",
[175, 255, 255])) #(175,255,255) #(180,255,255)
else:
# For test biscuit tin lid
self.colourTargetLower = tuple(
config.get("minesweeper.analysis.colourTargetLowerTest",
[165, 94, 69]))
self.colourTargetUpper = tuple(
config.get("minesweeper.analysis.colourTargetUpperTest",
[180, 255, 255]))
self.showImage = config.get("minesweeper.display.image", True)
self.trailSize = config.get("minesweeper.display.trail", 25)
self.frameDelayMs = config.get("minesweeper.analysis.frameDelayMs",
20) # delay after each frame analysis
config.save()
# Load calibration values
configCal = Config("calibrationMinesweeper.json")
if useCalibrationColours:
self.colourTargetLower = tuple(
configCal.get("minesweeper.analysis.colourTargetLower", None))
self.colourTargetUpper = tuple(
configCal.get("minesweeper.analysis.colourTargetUpper", None))
self.cameraNearestVisibleDistance = configCal.get(
"distance.analysis.nearest", 130)
self.cameraNearestVisiblePixels = int(
self.cameraNearestVisibleDistance *
3.5) # Rough approximation equivallent!!
self.cameraFurthestVisiblePixel = configCal.get(
"distance.analysis.horizon", 500)
self.cameraHeightDistance = configCal.get(
"distance.analysis.cameraHeight", 170)
calibrationResolution = configCal.get(
"distance.analysis.calibrationResolution", [480, 640])
self.cameraHeightAdjustment = np.sqrt(
self.cameraHeightDistance * self.cameraHeightDistance +
self.cameraNearestVisibleDistance * self.
cameraNearestVisibleDistance) / self.cameraNearestVisibleDistance
# Adjust for the analysis picture resolution being different to the calibrator
self.cameraFurthestVisiblePixel = self.cameraFurthestVisiblePixel * self.analysis_width // calibrationResolution[
1]
# Results IPC
self.resultsIpc = ImageAnalysisSharedIPC()
self.resultsIpc.create()
# Yaw reading accessor
self.sensors = SensorAccessFactory.getSingleton()
self.yawAccessor = self.sensors.yaw()
from __future__ import print_function
import cv2 as cv
import argparse
from interfaces.Config import Config
# Get the last known config
config = Config("calibrationHSV.json")
low_H, low_S, low_V = config.get("minesweeper.analysis.colourTargetLowerTest", [165,94,69])
high_H, high_S, high_V = config.get("minesweeper.analysis.colourTargetUpperTest", [180,255,255])
max_value = 255
max_value_H = 360//2
#low_H = 0
#low_S = 0
#low_V = 0
#high_H = max_value_H
#high_S = max_value
#high_V = max_value
window_capture_name = 'Video Capture'
window_detection_name = 'Object Detection'
low_H_name = 'Low H'
low_S_name = 'Low S'
low_V_name = 'Low V'
high_H_name = 'High H'
high_S_name = 'High S'
high_V_name = 'High V'
def on_low_H_thresh_trackbar(val):
global low_H
global high_H
low_H = val
low_H = min(high_H-1, low_H)
def __init__(self,
forwardTorque,
steerTorque,
min=-1.0,
max=1.0,
scaling=1.0,
offset=0.0):
SensorInterface.__init__(self)
self.forwardTorque = forwardTorque
self.steerTorque = steerTorque
self.min = min
self.max = max
self.scaling = scaling
self.offset = offset
# Get config
config = Config()
self.speedSlow = config.get("speedsteer.slow", 0.1)
self.speedSlowComp = config.get("speedsteer.slow.compensation", 2.0)
self.speedMed = config.get("speedsteer.med", 0.8)
self.speedMedComp = config.get("speedsteer.med.compensation", 1.0)
self.speedHighComp = config.get("speedsteer.high.compensation", 2.0)
self.speedHighThresh = config.get("speedsteer.high.decelthresh", 0.05)
self.speedHighDecel = config.get("speedsteer.high.decel", 0.6)
config.save()
def __init__(self):
self.controls = ControlAccessFactory.getSingleton()
self.sensors = SensorAccessFactory.getSingleton()
#self.vision = VisionAccessFactory.getSingleton()
# Common controls
self.grabberControl = GrabberControl()
self.cameraLevellingControl = CameraLevellingControl()
self.zGunControl = ZGunControl()
# Get config
config = Config()
self.pidP = config.get("wall.pid.p", 0.015)
self.pidI = config.get("wall.pid.i", 0.0) #0.001)
self.pidD = config.get("wall.pid.d", 0.0012)
self.proportionalOnMeasure = config.get("wall.pid.pom", False)
self.maxForward = config.get("wall.forward.max", 1.0)
self.maxManualTurn = config.get("wall.manualturn.max", -15.0)
self.maxHeadingTurn = config.get("wall.headingturn.max", 0.5)
self.autoMaxSpeed = config.get("wall.speed", 0.6)
self.cameraTilt = config.get("wall.camera.tilt", -0.4)
self.leftRightMaxDist = config.get("wall.leftright.maxdist", 600)
self.forwardTurnDist = config.get("wall.forward.maxdist", 450)
self.wallDistTarget = config.get(
"wall.targetdist", 305) # 305 ~= 210mm clearance each side
self.wallFollowAdjustmentRate = config.get("wall.move.followfactor",
300.0)
self.wallFollowMaxAngle = config.get("wall.move.maxfollowangle", 15.0)
self.turnAllowedTime = config.get("wall.move.turnspeed", 1.0)
self.turnAheadSpeed = config.get("wall.move.turnaheadspeed", 0.4)
config.save()