class Car:
def __init__(self, m1_forward, m1_backward, m2_forward, m2_backward,
m3_forward, m3_backward, m4_forward, m4_backward,
resolution_x, resolution_y, rotation):
self._camera = Camera(resolution_x, resolution_y, rotation)
self._motor1 = Motor(m1_forward, m1_backward)
self._motor2 = Motor(m2_forward, m2_backward)
self._motor3 = Motor(m3_forward, m3_backward)
self._motor4 = Motor(m4_forward, m4_backward)
def move_forward(self):
print('Moving the car forward...')
self._motor1.move_forward()
self._motor2.move_forward()
self._motor3.move_forward()
self._motor4.move_forward()
def move_backward(self):
print('Moving the car backward...')
self._motor1.move_backward()
self._motor2.move_backward()
self._motor3.move_backward()
self._motor4.move_backward()
def stop(self):
print('Stopping the car...')
self._motor1.stop()
self._motor2.stop()
self._motor3.stop()
self._motor4.stop()
def take_picture(self, image_filename):
self._camera.take_picture(image_filename)
def __init__(self, m1_forward, m1_backward, m2_forward, m2_backward, m3_forward, m3_backward, m4_forward,
m4_backward, resolution_x, resolution_y, rotation, status=CarStatus.STOPPED):
self._camera = Camera(resolution_x, resolution_y, rotation)
self._motor1 = Motor(m1_forward, m1_backward)
self._motor2 = Motor(m2_forward, m2_backward)
self._motor3 = Motor(m3_forward, m3_backward)
self._motor4 = Motor(m4_forward, m4_backward)
self._status = status
class Car:
""" This car represents the Raspberry-Py car """
def __init__(self,
m1_forward,
m1_backward,
m2_forward,
m2_backward,
m3_forward,
m3_backward,
m4_forward,
m4_backward,
resolution_x,
resolution_y,
rotation,
status=CarStatus.STOPPED):
self._camera = Camera(resolution_x, resolution_y, rotation)
self._motor1 = Motor(m1_forward, m1_backward)
self._motor2 = Motor(m2_forward, m2_backward)
self._motor3 = Motor(m3_forward, m3_backward)
self._motor4 = Motor(m4_forward, m4_backward)
self.status = status
def move_forward(self):
print('Moving the car forward...')
self.status = CarStatus.RUNNING
self._motor1.move_forward()
self._motor2.move_forward()
self._motor3.move_forward()
self._motor4.move_forward()
def move_backward(self):
print('Moving the car backward...')
self.status = CarStatus.RUNNING
self._motor1.move_backward()
self._motor2.move_backward()
self._motor3.move_backward()
self._motor4.move_backward()
def stop(self):
print('Stopping the car...')
self.status = CarStatus.STOPPED
self._motor1.stop()
self._motor2.stop()
self._motor3.stop()
self._motor4.stop()
def take_picture(self, image_filename):
self._camera.take_picture(image_filename)
class Car:
""" This car represents the Raspberry Pi car """
def __init__(self, m1_forward, m1_backward, m2_forward, m2_backward, m3_forward, m3_backward, m4_forward,
m4_backward, resolution_x, resolution_y, rotation, status=CarStatus.STOPPED):
self._camera = Camera(resolution_x, resolution_y, rotation)
self._motor1 = Motor(m1_forward, m1_backward)
self._motor2 = Motor(m2_forward, m2_backward)
self._motor3 = Motor(m3_forward, m3_backward)
self._motor4 = Motor(m4_forward, m4_backward)
self._status = status
def move_forward(self) -> None:
self._status = CarStatus.MOVING_FORWARD
self._motor1.move_forward()
self._motor2.move_forward()
self._motor3.move_forward()
self._motor4.move_forward()
def move_backward(self) -> None:
self._status = CarStatus.MOVING_BACKWARD
self._motor1.move_backward()
self._motor2.move_backward()
self._motor3.move_backward()
self._motor4.move_backward()
def stop(self) -> None:
self._status = CarStatus.STOPPED
self._motor1.stop()
self._motor2.stop()
self._motor3.stop()
self._motor4.stop()
def take_picture(self, image_filename) -> None:
self._status = CarStatus.TAKING_IMAGE
self._camera.take_picture(image_filename)
self._status = CarStatus.IMAGE_TAKEN
def update_status(self, status: CarStatus) -> None:
self._status = status
@property
def status(self) -> CarStatus:
return self._status
@status.setter
def status(self, status):
self._status = status
def onkey(self, key):
if key == "B":
self.driveon = not self.driveon
print("Drive:", self.driveon)
elif key=="Y":
filename = Camera.capture()
print("Capture: ", filename)
elif key=="A":
filename = Camera.record(self.vid_duration)
print("Record: ", filename)
elif key=="X":
# catch ball
frame = Camera.capture_mem()
x,y,r = identify_yellow_ball(frame)
adir, dist = (Camera.convert_x_to_dir(x), Camera.convert_radius_to_dist(r))
print("Chase: ", adir, dist)
#Drive.chase_obj(dir, dist)
return True
def recording_setup():
global csv_file, image_counter, writer, recording_thread, recording_run_event, camera_stream
image_counter = 0
camera_stream = Camera().start()
print 'Warming up camera sensors. Wait 2 seconds..\n\n'
time.sleep(2)
csv_file = open('CNN/data/driving_log.csv', 'w')
writer = csv.writer(csv_file)
recording_run_event = threading.Event()
recording_run_event.set()
recording_thread = threading.Thread(target=recording_loop)