import datetime
import time
import car_config
import parts
my_car = car_config.my_car()
bluepill = parts.BluePill(**car_config.bluepill_configs[my_car])
keras_pilot = parts.KerasPilot('model')
timer = parts.Timer(frequency=20)
cam = parts.PiCamera()
try:
while True:
timer.tick()
car_status = bluepill.get_status()
im = cam.get_image() / 255.0
ang, thr = keras_pilot.get_steering(im)
bluepill.drive(ang, car_status.user_throttle)
print(ang, car_status.user_throttle)
finally:
bluepill.stop_and_disengage_autonomy()
import datetime
import numpy as np
import parts
bluepill = parts.BluePill()
timer = parts.Timer(frequency=20)
try:
while True:
timer.tick()
angle_duty, throttle_duty = bluepill.get_raw_duties()
print("A: %d T: %d" % (angle_duty, throttle_duty))
finally:
bluepill.stop_and_disengage_autonomy()