def main():
import tiltpan
import myconfig
from time import sleep
import numpy as np
print("*** myDistSensor.py main() ****")
print("\nTesting adjustReadingInMMForError()")
print("Polyfit Formula: Adjusted_Actual = %.5f * Reading + %.4f" % (m, b))
print(
"\nFor reference_reading of %.1f and reference_actual of %.1f, adjustReadingInMMForError returns %.1f"
% (X1, Y1, adjustReadingInMMForError(X1)))
print(
"\nFor reference_reading of %.1f inches (in MM) and reference_actual of %.1f inches (in MM), adjustReadingInMMForError returns %.1f inches (in MM)"
% (X2 / 25.4, Y2 / 25.4, adjustReadingInMMForError(X2) / 25.4))
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
myconfig.setParameters(egpg)
ds = init(egpg)
tp = tiltpan.TiltPan(egpg)
print("\n\nPlace Carl at known distance from wall")
sleep(5)
print("Taking Measurement")
mDl = []
for i in xrange(0, 100):
mDl += [ds.read_mm()]
sleep(0.1)
measuredDistance = np.mean(mDl)
correctedDistance = adjustReadingInMMForError(measuredDistance)
print(
"average of %d measured_readings: %.1f mm = adjusted_distance: %.1f mm"
% (len(mDl), measuredDistance, correctedDistance))
def main():
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
myconfig.setParameters(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
print("tiltpan centered")
sleep(0.2)
tp.off()
print("tiltpan off")
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
myconfig.setParameters(egpg) # configure custom wheel dia and base
tp = tiltpan.TiltPan(egpg) # init tiltpan
print("centering")
tp.tiltpan_center()
print("centered")
sleep(0.5)
tp.off()
print("tiltpan.off() complete")
try:
# loop
loopSleep = 10 # second
loopCount = 0
keepLooping = True
while keepLooping:
loopCount += 1
# orbit_in_reverse(egpg, degrees= 45, radius_cm= egpg.WHEEL_BASE_WIDTH/2.0, blocking=True)
# exit(0)
print("\nTranslate 1 to 4 mm")
for dist_mm in range(1, 5, 1): # 1, 2, 3, 4 mm
print("\nTranslateMm({:.0f}) {:.2f} inches".format(
dist_mm, dist_mm / 25.4))
translateMm(egpg, dist_mm, debug=True) # to the left
sleep(5)
print("\nTranslateMm({:.0f}) {:.2f} inches".format(
-dist_mm, -dist_mm / 25.4))
translateMm(egpg, -dist_mm) # to the right
sleep(5)
print("\nTranslate 3, 2, 1 inches")
for dist_10x_mm in range(762, 0, -254): # 3, 2, 1 inch
dist_mm = dist_10x_mm / 10.0
print("\nTranslateMm({:.0f}) {:.0f} inches".format(
dist_mm, dist_mm / 25.4))
translateMm(egpg, dist_mm, debug=True) # to the left
sleep(5)
print("\nTranslateMm({:.0f}) {:.0f} inches".format(
-dist_mm, -dist_mm / 25.4))
translateMm(egpg, -dist_mm) # to the right
sleep(5)
keepLooping = False
#sleep(loopSleep)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
try:
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
except:
strToLog = "Could not instantiate an EasyGoPiGo3"
print(strToLog)
if Carl: lifeLog.logger.info(strToLog)
exit(1)
if Carl:
myconfig.setParameters(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
tp.off()
try:
# Do Somthing in a Loop
loopSleep = 1 # second
loopCount = 0
keepLooping = False
while keepLooping:
loopCount += 1
# do something
sleep(loopSleep)
# Do Something Once
# load the image and convert to grayscale
image = cv2.imread(args["image"])
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# initialize the list of threshold methods
methods = [("THRESH_BINARY", cv2.THRESH_BINARY),
("THRESH_BINARY_INV", cv2.THRESH_BINARY_INV),
("THRESH_TRUNC", cv2.THRESH_TRUNC),
("THRESH_TOZERO", cv2.THRESH_TOZERO),
("THRESH_TOZERO_INV", cv2.THRESH_TOZERO_INV)]
# loop over the threshold methods
for (threshName, threshMethod) in methods:
# threshold the image and show it
(T, thresh) = cv2.threshold(gray, args["threshold"], 255,
threshMethod)
cv2.imshow(threshName, thresh)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
try:
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
except:
strToLog = "Could not instantiate an EasyGoPiGo3"
print(strToLog)
if Carl: lifeLog.logger.info(strToLog)
exit(1)
if Carl:
myconfig.setParameters(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
tp.off()
try:
# Do Somthing in a Loop
loopSleep = 1 # second
loopCount = 0
keepLooping = False
while keepLooping:
loopCount += 1
# do something
sleep(loopSleep)
# Do Something Once
# load the image and convert to grayscale
image = cv2.imread(args["image"])
image = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(image, (5, 5), 0)
cv2.imshow("Image", image)
thresh = cv2.adaptiveThreshold(blurred, 255,
cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV, 11, 4)
cv2.imshow("Mean Thresh", thresh)
thresh = cv2.adaptiveThreshold(blurred, 255,
cv2.ADAPTIVE_THRESH_GAUSSIAN_C,
cv2.THRESH_BINARY_INV, 15, 3)
cv2.imshow("Mean Thresh", thresh)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
myconfig.setParameters(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
tp.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
blurred = np.hstack([
cv2.blur(image, (3, 3)),
cv2.blur(image, (5, 5)),
cv2.blur(image, (7, 7))
])
cv2.imshow("Averaged", blurred)
blurred2 = np.hstack([
cv2.GaussianBlur(image, (3, 3), 0),
cv2.GaussianBlur(image, (5, 5), 0),
cv2.GaussianBlur(image, (7, 7), 0)
])
cv2.imshow("Gaussian", blurred2)
blurred3 = np.hstack([
cv2.medianBlur(image, 3),
cv2.medianBlur(image, 5),
cv2.medianBlur(image, 7)
])
cv2.imshow("Median", blurred3)
blurred4 = np.hstack([
cv2.bilateralFilter(image, 5, 21, 21),
cv2.bilateralFilter(image, 7, 31, 31),
cv2.bilateralFilter(image, 9, 41, 41)
])
cv2.imshow("Bilateral", blurred4)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
egpg = easygopigo3.EasyGoPiGo3(
use_mutex=True) # Create an instance of the EasyGoPiGo3 class
myconfig.setParameters(egpg)
runLog.logger.info("Starting scan360.py at {0:0.2f}v".format(egpg.volt()))
ds = myDistSensor.init(egpg)
tp = tiltpan.TiltPan(egpg)
# Adjust GOPIGO3 CONSTANTS to my bot default EasyGoPiGo3.WHEEL_DIAMETER = 66.5 mm
# egpg.WHEEL_DIAMETER = 59.0 # empirical from systests/wheelDiaRotateTest.py
# egpg.WHEEL_CIRCUMFERENCE = egpg.WHEEL_DIAMETER * math.pi
dist_list_mm = []
at_angle_list = []
# speeds = [300, 100, 50, 30]
speeds = [150, 50, 300]
for spd in speeds:
try:
print("\nSPIN 360 AND SCAN at speed={}".format(spd))
dist_list_mm, at_angle_list = spin_and_scan(
egpg, ds, tp, 360,
speed=spd) # spin in place and take distance sensor readings
range_list_cm = [dist / 10 for dist in dist_list_mm]
printmaps.view360(
range_list_cm,
at_angle_list) # print view (all r positive, theta 0=left
print("Readings:{}".format(len(at_angle_list)))
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
egpg.stop() # stop motors
runLog.logger.info("Exiting scan360.py at {0:0.2f}v".format(
egpg.volt()))
print("Ctrl-C detected - Finishing up")
egpg.stop()
def main():
ap = argparse.ArgumentParser()
ap.add_argument("-d",
"--drive",
default=False,
action='store_true',
help="optional scan and drive forward")
args = vars(ap.parse_args())
driveFlag = args['drive']
#Make Map, GoPiGo move forward if no object within , stops makes a map and again moves forward
PERSONAL_SPACE = 25 # cm
# Create an instance egpg of the GoPiGo3 class.
egpg = easygopigo3.EasyGoPiGo3(
use_mutex=True) # use_mutex=True for "thread-safety"
myconfig.setParameters(egpg)
if carl:
runLog.logger.info("Starting servoscan.py at {0:0.2f}v".format(
egpg.volt()))
# Create an instance of the Distance Sensor class.
# I2C1 and I2C2 are the two ports through which sensors can connect to the I2C bus
# The sensor can be connected to either port to be "on the I2C bus" so no port id is needed
# The EasyDistanceSensor will return trusted readings out to roughly 230 cm
# and returns 300 when no obstacle seen
#ds = egpg.init_distance_sensor(port='RPI_1') # must use HW I2C
#servo = egpg.init_servo("SERVO1")
ds = myDistSensor.init(egpg)
tp = tiltpan.TiltPan(egpg)
try:
egpg.stop()
while True:
# Scan in front of GoPiGo3
dist_l, ang_l = ds_map(ds, tp, sector=160)
closest_object = min(dist_l)
tp.center()
# Print scan data on terminal
printmaps.view180(dist_l,
ang_l,
grid_width=80,
units="cm",
ignore_over=230)
if driveFlag:
# Decide if can move forward
if (closest_object < PERSONAL_SPACE
): #If any obstacle is closer than desired, stop
print(
"\n!!! FREEZE - THERE IS SOMETHING INSIDE MY PERSONAL SPACE !!!\n"
)
break
# We have clearance to move
dist_to_drive = (closest_object * 0.3)
print("\n*** WE HAVE CLEARANCE TO MOVE {:.1f}cm ***".format(
dist_to_drive))
sleep(5)
egpg.drive_cm(dist_to_drive, blocking=True
) # drive 1/3 of the distance to closest object
print("\n*** PAUSING TO ENJOY THE VIEW ***")
sleep(15)
print("\n*** Wall Angle Scan ***")
angleToWallNormal = wallAngleScan(ds, tp, verbose=True)
sleep(5)
# Continue here when object within personal space
tp.center()
sleep(2)
tp.off()
except KeyboardInterrupt:
print("\n**** Ctrl-C detected. Finishing Up ****")
if carl:
runLog.logger.info("Exiting servoscan.py at {0:0.2f}v".format(
egpg.volt()))
tp.center()
sleep(2)
tp.off()
def main():
if Carl: runLog.logger.info("Started")
try:
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
except:
strToLog = "Could not instantiate an EasyGoPiGo3"
print(strToLog)
if Carl: lifeLog.logger.info(strToLog)
exit(1)
if Carl:
myconfig.setParameters(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
tp.off()
try:
# Do Somthing in a Loop
loopSleep = 1 # second
loopCount = 0
keepLooping = False
while keepLooping:
loopCount += 1
# do something
sleep(loopSleep)
# Do Something Once
# load the image and convert to grayscale
image = cv2.imread(args["image"])
# pyramid mean shift to aid thresholding
shifted = cv2.pyrMeanShiftFiltering(image, 21, 51)
cv2.imshow("Input", image)
# convert to grayscale, apply Otsu's thresholding
gray = cv2.cvtColor(shifted, cv2.COLOR_BGR2GRAY)
# threshold() returns T,thresholded_image (T is the threshold value - same as 0 passed in)
thresh = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)[1]
cv2.imshow("Thresh", thresh)
# compute the exact Euclidean Distance (ED Transform) from every non-zero (foreground)
# pixel to the nearest zero (background) pixel, then find peaks (center area of objects) in this
# distance map
D = ndimage.distance_transform_edt(thresh)
localMax = peak_local_max(D, indices=False, min_distance=20, labels=thresh)
# perform connected component analysis on the local peaks,
# using 8-connectivity, then apply Watershed algorithm
markers = ndimage.label(localMax, structure=np.ones((3, 3)))[0]
# watershed assumes markers are local minima (valleys), use -D to turn peaks to valleys
labels = watershed( -D, markers, mask=thresh)
print("[INFO] {} unique segments found".format(len(np.unique(labels)) -1))
# (each pixel has been "labeled" with a height, all pixels with same height belong to same object)
# loop over the unique labels, gather those pixels on a maxk
for label in np.unique(labels):
# if label is zero (background pixels), ignore it
if label == 0:
continue
# allocate memory for the label region and draw it on the mask
mask = np.zeros(gray.shape, dtype="uint8")
mask[labels == label] = 255 # unmask pixels of this region
# detect contours in the mask and grab the largest one
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
c = max(cnts, key=cv2.contourArea)
# draw a circle enclosing the object
((x, y), r) = cv2.minEnclosingCircle(c)
cv2.circle(image, (int(x), int(y)), int(r), (0, 255, 0), 2)
cv2.putText(image, "#{}".format(label), (int(x) - 10, int(y)),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2)
# show the output image
cv2.imshow("Output", image)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
myconfig.setParameters(egpg) # configure custom wheel dia and base
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
sleep(0.5)
tp.off()
try:
f = open('carl_corpus.txt', 'r', errors='ignore')
raw = f.read()
raw = raw.lower() # convert everything to lowercase
nltk.download('punkt') # first time only
nltk.download('wordnet') # first time only
sent_tokens = nltk.sent_tokenize(raw) # convert to list of sentences
word_tokens = nltk.word_tokenize(raw) # convert to list of words
print("example sent_tokens[:2]=\n", sent_tokens[:2])
print("example word_tokens[:2]=\n", word_tokens[:2])
# WordNet is a semantically-oriented dictionary of English included in nltk
lemmer = nltk.stem.WordNetLemmatizer()
def LemTokens(tokens):
return [lemmer.lemmatize(token) for token in tokens]
remove_punct_dict = dict(
(ord(punct), None) for punct in string.punctuation)
def LemNormalize(text):
return LemTokens(
nltk.word_tokenize(text.lower().translate(remove_punct_dict)))
def response(user_response):
carl_response = ''
sent_tokens.append(user_response)
TfidfVec = TfidfVectorizer(tokenizer=LemNormalize,
stop_words='english')
tfidf = TfidfVec.fit_transform(sent_tokens)
vals = cosine_similarity(tfidf[-1], tfidf)
idx = vals.argsort()[0][-2]
flat = vals.flatten()
flat.sort()
req_tfidf = flat[-2]
if (req_tfidf == 0):
carl_response = carl_response + "I am sorry! I don't understand you"
return carl_response
else:
carl_response = carl_response + sent_tokens[idx]
return carl_response
print(
"\nCARL: My name is CARL. I will answer your queries about me. If you want to exit, type Bye!"
)
# loop
loopSleep = 1 # second
loopCount = 0
keepLooping = True
while keepLooping:
loopCount += 1
user_response = input("\nYour Question? ")
user_response = user_response.lower()
if (user_response != 'bye'):
if (user_response == 'thanks' or user_response == 'thank you'):
keepLooping = False
print("CARL: You are welcome..")
else:
if (greeting(user_response) != None):
print("CARL: " + greeting(user_response))
else:
print("CARL: ", end="")
print(response(user_response))
sent_tokens.remove(user_response)
else:
keepLooping = False
print("CARL: Bye! Take care..")
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
runLog.logger.info("Starting GCO.py")
egpg = easygopigo3.EasyGoPiGo3(
use_mutex=True) # Create an instance of the EasyGoPiGo3 class
# Adjust GOPIGO3 CONSTANTS to my bot default EasyGoPiGo3.WHEEL_DIAMETER = 66.5 mm
myconfig.setParameters(egpg)
ds = myDistSensor.init(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
dist_list_mm = []
at_angle_list = []
scan360speed = 150
safe_distance = 20.32 # cm 8 inches wheels to wall/object
ds_to_wheels = 7 # cm distance sensor is 2.75 inches in front of wheels
try:
# spin360 taking distance measurement
print("\n360 degree scan at speed={}".format(scan360speed))
dist_list_mm, at_angle_list = scan360.spin_and_scan(
egpg, ds, tp, 360,
speed=scan360speed) # spin taking distance readings
range_list_cm = [dist / 10 for dist in dist_list_mm]
printmaps.view360(
range_list_cm,
at_angle_list) # print view (all r positive, theta 0=left
print("Readings:{}".format(len(at_angle_list)))
sleep(3)
# spin to face closest object
dist_to_target, scan_angle_to_target = closest_obj(
range_list_cm, at_angle_list)
angle_to_target = scan_angle_to_target - 90 # adjust for 0=left
print("\nClosest object is {:.1f} cm at {:.0f} degrees".format(
dist_to_target, angle_to_target))
sleep(3)
print("\nTurning {:.0f} at {} dps to face closest object".format(
angle_to_target, egpg.get_speed()))
egpg.turn_degrees(angle_to_target)
sleep(3)
# travel to point where wheels are 10 inches from object (will back up if too close)
dist_to_guard_spot = dist_to_target + ds_to_wheels - safe_distance
print("\nMoving {:.0f} cm to guard spot".format(dist_to_guard_spot))
egpg.drive_cm(dist_to_guard_spot)
sleep(3)
# perform a 160 degree scan with obj in the center
# spin 180 to face away from object
print("\nTurning 180 to guard direction")
egpg.turn_degrees(180)
sleep(3)
# loop
# perform a quick 160 degree scan
# if something gets closer, wag head and announce "I saw that."
while True:
dist_l, angl_l = servoscan.ds_map(ds, tp, num_of_readings=72)
printmaps.view180(dist_l,
angl_l,
grid_width=80,
units="cm",
ignore_over=230)
# turn distance sensor (eyes) to face closest object
dist_to_closest, scan_angle_to_closest = closest_obj(
dist_l, angl_l)
angle_to_closest = scan_angle_to_closest # - 90 # adjust for 0=left
print("\nClosest object is {:.1f} cm at {:.0f} degrees".format(
dist_to_closest, angle_to_closest))
print("\nPointing {:.0f} to face closest object".format(
angle_to_closest))
tp.pan(angle_to_closest)
sleep(2)
status.printStatus(egpg, ds)
sleep(30)
tp.tiltpan_center()
# status.batterySafetyCheck()
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
egpg.stop() # stop motors
runLog.logger.info("Exiting GCO.py")
print("Ctrl-C detected - Finishing up")
egpg.stop()
def main():
if Carl: runLog.logger.info("Started")
try:
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
except:
strToLog = "Could not instantiate an EasyGoPiGo3"
print(strToLog)
if Carl: lifeLog.logger.info(strToLog)
exit(1)
if Carl:
myconfig.setParameters(egpg)
tp = tiltpan.TiltPan(egpg)
tp.tiltpan_center()
tp.off()
try:
# Do Somthing in a Loop
loopSleep = 1 # second
loopCount = 0
keepLooping = False
while keepLooping:
loopCount += 1
# do something
sleep(loopSleep)
# Do Something Once
# load the image and apply pyramid mean shift filtering
# to assist the thresholding that follows
image = cv2.imread(args["image"])
shifted = cv2.pyrMeanShiftFiltering(image, 21, 51)
stack = np.hstack([image,shifted])
cv2.imshow("Image and Shifted", stack)
# convert the mean shift image to grayscale
gray = cv2.cvtColor(shifted, cv2.COLOR_BGR2GRAY)
# apply Otsu thresholding
thresh = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)[1]
cv2.imshow("Thresh", thresh)
# find contours in the thresholded image
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
print("[INFO] {} unique contours found".format(len(cnts)))
# loop over the contours
for (i, c) in enumerate(cnts):
# draw the contour
((x, y), _) = cv2.minEnclosingCircle(c)
cv2.putText(image, "#{}".format(i + 1), (int(x) - 10, int(y)),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2)
cv2.drawContours(image, [c], -1, (0, 255, 0), 2)
# show the result
cv2.imshow("shifted, thresholded, contours",image)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)