def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
# Use the triggers to control the car's speed
rt = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
lt = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
speed = rt - lt
# Calculate the distance of the object directly in front of the car
depth_image = rc.camera.get_depth_image()
center_distance = rc_utils.get_depth_image_center_distance(depth_image)
# TODO (warmup): Prevent forward movement if the car is about to hit something.
# Allow the user to override safety stop by holding the right bumper.
# Use the left joystick to control the angle of the front wheels
angle = rc.controller.get_joystick(rc.controller.Joystick.LEFT)[0]
rc.drive.set_speed_angle(speed, angle)
# Print the current speed and angle when the A button is held down
if rc.controller.is_down(rc.controller.Button.A):
print("Speed:", speed, "Angle:", angle)
# Print the depth image center distance when the B button is held down
if rc.controller.is_down(rc.controller.Button.B):
print("Center distance:", center_distance)
# Display the current depth image
rc.display.show_depth_image(depth_image)
def update():
rt = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
lt = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
depth_image = rc.camera.get_depth_image()
center_distance = rc_utils.get_depth_image_center_distance(depth_image)
global STAGE
if STAGE == 0:
image = rc.camera.get_color_image()
forwardSpeed = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
backwardSpeed = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
speed = forwardSpeed - backwardSpeed
angle = rc.controller.get_joystick(rc.controller.Joystick.LEFT)[0]
corners, ids = get_ar_markers(image)
if ids is not None and 1 in ids:
print("go fast!")
STAGE = 2
#if ids is not None and 199 in ids:
#print("turn!")
elif STAGE == 1:
rc.set_max_speed = 3.0
angle = followLine(COLOR_PRIORITY)
speed = 1
elif STAGE == 2:
rc.set_max_speed = 3.0
findOrangeOrPurpleAngle()
speed = 0.1 #max possible
angle = rc.controller.get_joystick(rc.controller.Joystick.LEFT)[0]
rc.drive.set_speed_angle(speed,angle)
def start():
"""
This function is run once every time the start button is pressed
"""
global cur_speed
global prev_distance
# Have the car begin at a stop
rc.drive.stop()
# Initialize variables
cur_speed = 0
depth_image = rc.camera.get_depth_image()
prev_distance = rc_utils.get_depth_image_center_distance(depth_image)
# Print start message
print(">> Lab 3A - Depth Camera Safety Stop\n"
"\n"
"Controls:\n"
" Right trigger = accelerate forward\n"
" Right bumper = override safety stop\n"
" Left trigger = accelerate backward\n"
" Left joystick = turn front wheels\n"
" A button = print current speed and angle\n"
" B button = print the distance at the center of the depth image")
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
global cur_mode
# Measure distance at the left, right, and center of the image
depth_image = rc.camera.get_depth_image()
center_dist = rc_utils.get_depth_image_center_distance(depth_image)
left_dist = rc_utils.get_pixel_average_distance(
depth_image, LEFT_POINT, KERNEL_SIZE
)
right_dist = rc_utils.get_pixel_average_distance(
depth_image, RIGHT_POINT, KERNEL_SIZE
)
# Use the difference between left_dist and right_dist to determine angle
dist_dif = left_dist - right_dist
angle = rc_utils.remap_range(dist_dif, -MAX_DIST_DIF, MAX_DIST_DIF, -1, 1, True)
# PARK MODE: More forward or backward until center_dist is GOAL_DIST
if cur_mode == Mode.park:
speed = rc_utils.remap_range(center_dist, GOAL_DIST * 2, GOAL_DIST, 1.0, 0.0)
speed = rc_utils.clamp(speed, -PARK_SPEED, PARK_SPEED)
# If speed is close to 0, round to 0 to "park" the car
if -SPEED_THRESHOLD < speed < SPEED_THRESHOLD:
speed = 0
# If the angle is no longer correct, choose mode based on area
if abs(angle) > ANGLE_THRESHOLD:
cur_mode = Mode.forward if center_dist > FORWARD_DIST else Mode.reverse
# FORWARD MODE: Move forward until we are closer that REVERSE_DIST
elif cur_mode == Mode.forward:
speed = rc_utils.remap_range(center_dist, FORWARD_DIST, REVERSE_DIST, 1.0, 0.0)
speed = rc_utils.clamp(speed, 0, ALIGN_SPEED)
# Once we pass REVERSE_DIST, switch to reverse mode
if center_dist < REVERSE_DIST:
cur_mode = Mode.reverse
# If we are close to the correct angle, switch to park mode
if abs(angle) < ANGLE_THRESHOLD:
cur_mode = Mode.park
# REVERSE MODE: move backward until we are farther than FORWARD_DIST
else:
speed = rc_utils.remap_range(center_dist, REVERSE_DIST, FORWARD_DIST, -1.0, 0.0)
speed = rc_utils.clamp(speed, -ALIGN_SPEED, 0)
# Once we pass FORWARD_DIST, switch to forward mode
if center_dist > FORWARD_DIST:
cur_mode = Mode.forward
# If we are close to the correct angle, switch to park mode
if abs(angle) < ANGLE_THRESHOLD:
cur_mode = Mode.park
# Reverse the angle if we are driving backward
if speed < 0:
angle *= -1
rc.drive.set_speed_angle(speed, angle)
# Display the depth image, and show LEFT_POINT and RIGHT_POINT
rc.display.show_depth_image(depth_image, points=[LEFT_POINT, RIGHT_POINT])
# Print the current speed and angle when the A button is held down
if rc.controller.is_down(rc.controller.Button.A):
print("Speed:", speed, "Angle:", angle)
# Print measured distances when the B button is held down
if rc.controller.is_down(rc.controller.Button.B):
print(
"left_dist:",
left_dist,
"center_dist:",
center_dist,
"right_dist:",
right_dist,
)
# Print the current mode when the X button is held down
if rc.controller.is_down(rc.controller.Button.X):
print("Mode:", cur_mode)
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
# Display the color image cropped to the top left
if rc.controller.was_pressed(rc.controller.Button.A):
image = rc.camera.get_color_image()
cropped = rc_utils.crop(
image, (0, 0),
(rc.camera.get_height() // 2, rc.camera.get_width() // 2))
rc.display.show_color_image(cropped)
# Find and display the largest red contour in the color image
if rc.controller.was_pressed(rc.controller.Button.B):
image = rc.camera.get_color_image()
contours = rc_utils.find_contours(image, RED[0], RED[1])
largest_contour = rc_utils.get_largest_contour(contours)
if largest_contour is not None:
center = rc_utils.get_contour_center(largest_contour)
area = rc_utils.get_contour_area(largest_contour)
print("Largest red contour: center={}, area={:.2f}".format(
center, area))
rc_utils.draw_contour(image, largest_contour,
rc_utils.ColorBGR.green.value)
rc_utils.draw_circle(image, center, rc_utils.ColorBGR.yellow.value)
rc.display.show_color_image(image)
else:
print("No red contours found")
# Print depth image statistics and show the cropped upper half
if rc.controller.was_pressed(rc.controller.Button.X):
depth_image = rc.camera.get_depth_image()
# Measure average distance at several points
left_distance = rc_utils.get_pixel_average_distance(
depth_image,
(rc.camera.get_height() // 2, rc.camera.get_width() // 4),
)
center_distance = rc_utils.get_depth_image_center_distance(depth_image)
center_distance_raw = rc_utils.get_depth_image_center_distance(
depth_image, 1)
right_distance = rc_utils.get_pixel_average_distance(
depth_image,
(rc.camera.get_height() // 2, 3 * rc.camera.get_width() // 4),
)
print(f"Depth image left distance: {left_distance:.2f} cm")
print(f"Depth image center distance: {center_distance:.2f} cm")
print(f"Depth image raw center distance: {center_distance_raw:.2f} cm")
print(f"Depth image right distance: {right_distance:.2f} cm")
# Measure pixels where the kernel falls off the edge of the photo
upper_left_distance = rc_utils.get_pixel_average_distance(
depth_image, (2, 1), 11)
lower_right_distance = rc_utils.get_pixel_average_distance(
depth_image,
(rc.camera.get_height() - 2, rc.camera.get_width() - 5), 13)
print(f"Depth image upper left distance: {upper_left_distance:.2f} cm")
print(
f"Depth image lower right distance: {lower_right_distance:.2f} cm")
# Find closest point in bottom third
cropped = rc_utils.crop(
depth_image,
(0, 0),
(rc.camera.get_height() * 2 // 3, rc.camera.get_width()),
)
closest_point = rc_utils.get_closest_pixel(cropped)
closest_distance = cropped[closest_point[0]][closest_point[1]]
print(
f"Depth image closest point (upper half): (row={closest_point[0]}, col={closest_point[1]}), distance={closest_distance:.2f} cm"
)
rc.display.show_depth_image(cropped, points=[closest_point])
# Print lidar statistics and show visualization with closest point highlighted
if rc.controller.was_pressed(rc.controller.Button.Y):
lidar = rc.lidar.get_samples()
front_distance = rc_utils.get_lidar_average_distance(lidar, 0)
right_distance = rc_utils.get_lidar_average_distance(lidar, 90)
back_distance = rc_utils.get_lidar_average_distance(lidar, 180)
left_distance = rc_utils.get_lidar_average_distance(lidar, 270)
print(f"Front LIDAR distance: {front_distance:.2f} cm")
print(f"Right LIDAR distance: {right_distance:.2f} cm")
print(f"Back LIDAR distance: {back_distance:.2f} cm")
print(f"Left LIDAR distance: {left_distance:.2f} cm")
closest_sample = rc_utils.get_lidar_closest_point(lidar)
print(
f"Closest LIDAR point: {closest_sample[0]:.2f} degrees, {closest_sample[1]:.2f} cm"
)
rc.display.show_lidar(lidar, highlighted_samples=[closest_sample])
# Print lidar distance in the direction the right joystick is pointed
rjoy_x, rjoy_y = rc.controller.get_joystick(rc.controller.Joystick.RIGHT)
if abs(rjoy_x) > 0 or abs(rjoy_y) > 0:
lidar = rc.lidar.get_samples()
angle = (math.atan2(rjoy_x, rjoy_y) * 180 / math.pi) % 360
distance = rc_utils.get_lidar_average_distance(lidar, angle)
print(f"LIDAR distance at angle {angle:.2f} = {distance:.2f} cm")
# Default drive-style controls
left_trigger = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
right_trigger = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
left_joystick = rc.controller.get_joystick(rc.controller.Joystick.LEFT)
rc.drive.set_speed_angle(right_trigger - left_trigger, left_joystick[0])
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
global max_speed
global update_slow_time
global show_triggers
global show_joysticks
# Check if each button was_pressed or was_released
for button in rc.controller.Button:
if rc.controller.was_pressed(button):
print("Button {} was pressed".format(button.name))
if rc.controller.was_released(button):
print("Button {} was released".format(button.name))
# Click left and right joystick to toggle showing trigger and joystick values
left_trigger = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
right_trigger = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
left_joystick = rc.controller.get_joystick(rc.controller.Joystick.LEFT)
right_joystick = rc.controller.get_joystick(rc.controller.Joystick.RIGHT)
if rc.controller.was_pressed(rc.controller.Button.LJOY):
show_triggers = not show_triggers
if rc.controller.was_pressed(rc.controller.Button.RJOY):
show_joysticks = not show_joysticks
if show_triggers:
print("Left trigger: {}; Right trigger: {}".format(
left_trigger, right_trigger))
if show_joysticks:
print("Left joystick: {}; Right joystick: {}".format(
left_joystick, right_joystick))
# Use triggers and left joystick to control car (like default drive)
rc.drive.set_speed_angle(right_trigger - left_trigger, left_joystick[0])
# Change max speed and update_slow time when the bumper is pressed
if rc.controller.was_pressed(rc.controller.Button.LB):
max_speed = max(1 / 16, max_speed / 2)
rc.drive.set_max_speed(max_speed)
update_slow_time *= 2
rc.set_update_slow_time(update_slow_time)
print("max_speed set to {}".format(max_speed))
print("update_slow_time set to {} seconds".format(update_slow_time))
if rc.controller.was_pressed(rc.controller.Button.RB):
max_speed = min(1, max_speed * 2)
rc.drive.set_max_speed(max_speed)
update_slow_time /= 2
rc.set_update_slow_time(update_slow_time)
print("max_speed set to {}".format(max_speed))
print("update_slow_time set to {} seconds".format(update_slow_time))
# Capture and display color images when the A button is down
if rc.controller.is_down(rc.controller.Button.A):
rc.display.show_color_image(rc.camera.get_color_image())
# Capture and display depth images when the B button is down
elif rc.controller.is_down(rc.controller.Button.B):
depth_image = rc.camera.get_depth_image()
rc.display.show_depth_image(depth_image)
print("Depth center distance: {:.2f} cm".format(
rc_utils.get_depth_image_center_distance(depth_image)))
# Capture and display Lidar data when the X button is down
elif rc.controller.is_down(rc.controller.Button.X):
lidar = rc.lidar.get_samples()
rc.display.show_lidar(lidar)
print("LIDAR forward distance: {:.2f} cm".format(
rc_utils.get_lidar_average_distance(lidar, 0)))
# Show IMU data when the Y button is pressed
if rc.controller.is_down(rc.controller.Button.Y):
a = rc.physics.get_linear_acceleration()
w = rc.physics.get_angular_velocity()
print("Linear acceleration: ({:5.2f},{:5.2f},{:5.2f}); ".format(
a[0], a[1], a[2]) +
"Angular velocity: ({:5.2f},{:5.2f},{:5.2f})".format(
w[0], w[1], w[2]))
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
global speed
global angle
global cur_state
global PRIORITY
global prevangle
global cones_done
global cur_mode
global counter
# Get all images
image = rc.camera.get_color_image()
#cur_state == State.cone_slaloming
corners, ids = rc_utils.get_ar_markers(image)
length = len(corners)
if length > 0:
id = 300
index = 0
for idx in range(0, len(ids)):
if ids[idx] < id:
id = ids[idx]
index = idx
TL = corners[index][0][0]
TR = corners[index][0][1]
BL = corners[index][0][3]
area = (abs(TL[0] - TR[0]) +
abs(TL[1] - TR[1])) * (abs(TL[0] - BL[0]) + abs(TL[1] - BL[1]))
print(id[0], area)
if id[0] == 32 and area > 1900:
if cur_state is not State.cone_slaloming:
cur_mode = Mode.no_cones
counter = 0
cur_state = State.cone_slaloming
print("State: ", cur_state)
elif id[0] == 236 and area > 850:
cur_state = State.wall_parking
print("State: ", cur_state)
depth_image = rc.camera.get_depth_image()
###### Line Following State ######
if cur_state == State.line_following:
if image is None:
contour_center = None
else:
# Crop the image to the floor directly in front of the car
image = rc_utils.crop(image, CROP_FLOOR[0], CROP_FLOOR[1])
colorContours = []
contour = None
colorContours = []
red = checkRed(image)
green = checkGreen(image)
#blue = checkBlue(image)
yellow = checkYellow(image)
for priority in PRIORITY:
if priority == "Y" and yellow is not None:
colorContours.append(yellow)
print("yellow")
elif priority == "R" and red is not None:
colorContours.append(red)
print("red")
elif priority == "G" and green is not None:
colorContours.append(green)
print("green")
if not colorContours:
angle = prevangle
contour = None
else:
contour = colorContours[0]
if contour is not None:
# Calculate contour information
contour_center = rc_utils.get_contour_center(contour)
# Draw contour onto the image
rc_utils.draw_contour(image, contour)
rc_utils.draw_circle(image, contour_center)
#change
else:
contour_center = None
if contour_center is not None:
angle = rc_utils.remap_range(contour_center[1], 0,
rc.camera.get_width(), -1, 1,
True)
angle = rc_utils.clamp(angle, -1, 1)
prevangle = angle
# Display the image to the screen
rc.display.show_color_image(image)
##### Cone Slaloming State ######
elif cur_state == State.cone_slaloming:
print("cone slaloming")
update_cones()
###### Wall Parking State ######
elif cur_state == State.wall_parking:
print("Wall Parking")
# Get distance at 1/4, 2/4, and 3/4 width
center_dist = rc_utils.get_depth_image_center_distance(depth_image)
left_dist = rc_utils.get_pixel_average_distance(
depth_image, LEFT_POINT, KERNEL_SIZE)
right_dist = rc_utils.get_pixel_average_distance(
depth_image, RIGHT_POINT, KERNEL_SIZE)
print("distance", center_dist)
# Get difference between left and right distances
dist_dif = left_dist - right_dist
print("dist_dif", dist_dif)
# Remap angle
angle = rc_utils.remap_range(dist_dif, -MAX_DIST_DIF, MAX_DIST_DIF, -1,
1, True)
if abs(dist_dif) > 1:
print("entered")
angle = rc_utils.remap_range(dist_dif, -MAX_DIST_DIF, MAX_DIST_DIF,
-1, 1, True)
if center_dist > 20:
speed = 0.5
elif center_dist < 21 and center_dist > 10:
speed = rc_utils.remap_range(center_dist, 20, 10, 0.5, 0)
speed = rc_utils.clamp(speed, 0, 0.5)
else:
speed = 0
print("speed", speed)
rc.drive.set_speed_angle(speed, angle)
else:
# stop moving
rc.drive.stop()
print("angle", angle)
print("speed", speed)
rc.drive.set_speed_angle(0.6, angle)
def run_phase(self, rc, depth_image, color_image, lidar_scan):
#print(">> Running Wall Following")
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
# Use the triggers to control the car's speed left joystick for angle
#rt = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
#lt = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
#speed = rt - lt
#angle = rc.controller.get_joystick(rc.controller.Joystick.LEFT)[0]
# Calculate the distance
scan = lidar_scan
max_wall = 0.65 #testing max speed
hall = rc.camera.get_width() // 9
optimum = 60
rightDist = rc_utils.get_lidar_average_distance(scan, 44, 10)
leftDist = rc_utils.get_lidar_average_distance(scan, 316, 10)
angle = rc_utils.remap_range(rightDist - leftDist, -hall, hall, -1, 1)
angle = rc_utils.clamp(angle, -1, 1)
# get them tags
corners, ids = rc_utils.get_ar_markers(color_image)
billy = 150
if c.ar_in_range_ID(billy, depth_image, color_image, rc,
4 / 5) == c.ID_DIRECTION:
dirrrrrrrrr = rc_utils.get_ar_direction(corners[0])
#print(dirrrrrrrrr)
if dirrrrrrrrr == rc_utils.Direction.LEFT:
angle = -1
elif dirrrrrrrrr == rc_utils.Direction.RIGHT:
angle = 1
self.ar_tag = True
elif self.is_canyon:
tooClose = 80
if rc_utils.get_depth_image_center_distance(
depth_image) < tooClose:
angle = 1
right_farthest = np.amax(
depth_image[rc.camera.get_height() * 5 // 6,
rc.camera.get_width() //
2:rc.camera.get_width()].flatten())
left_farthest = np.amax(
depth_image[rc.camera.get_height() * 5 // 6,
0:rc.camera.get_width() // 2].flatten())
diff = abs(right_farthest - left_farthest)
AAAAAAAAAH_WE_ARE_ABOUT_TO_FALL____BETTER_STOP_NOW = 100
if self.ar_tag and self.ledge_count == 0 and diff > 50:
if right_farthest > AAAAAAAAAH_WE_ARE_ABOUT_TO_FALL____BETTER_STOP_NOW:
self.many += 1
self.ledge_angle = -1
self.ledge_count = 10
elif left_farthest > AAAAAAAAAH_WE_ARE_ABOUT_TO_FALL____BETTER_STOP_NOW:
self.many += 1
self.ledge_angle = 1
self.ledge_count = 10
#print("left ", left_farthest, " right ", right_farthest)
speed = rc_utils.remap_range(abs(angle), 15, 1, 1, 0.5) #temp controls
if self.many == 3:
self.ar_tag = False
if self.ledge_count > 0:
angle = self.ledge_angle
self.ledge_count -= 1
rc.drive.set_speed_angle(max_wall * speed, angle)
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
# Use the triggers to control the car's speed
rt = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
lt = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
speed = rt - lt
# Calculate the distance of the object directly in front of the car
depth_image = rc.camera.get_depth_image()
center_distance = rc_utils.get_depth_image_center_distance(depth_image)
# TODO (warmup): Prevent forward movement if the car is about to hit something.
crop_mid = depth_image[:int(2 * rc.camera.get_height() / 5),
-30 + int(rc.camera.get_width() / 2):30 +
int(rc.camera.get_width() / 2)]
crop_mid = (crop_mid - 0.01) % 10000
blur_mid = cv.GaussianBlur(crop_mid, (5, 5), cv.BORDER_DEFAULT)
closestMid, __, __, __ = cv.minMaxLoc(blur_mid)
safeSpeed = 0 if closestMid < 90 and speed > 0 else speed
print("closestMid: " + str(closestMid))
#print(closestMid)
# Allow the user to override safety stop by holding the right bumper.
speed = safeSpeed if rc.controller.is_down(
rc.controller.Button.RB) == False else speed
# Use the left joystick to control the angle of the front wheels
angle = rc.controller.get_joystick(rc.controller.Joystick.LEFT)[0]
# Print the current speed and angle when the A button is held down
if rc.controller.is_down(rc.controller.Button.A):
print("Speed:", speed, "Angle:", angle)
# Print the depth image center distance when the B button is held down
if rc.controller.is_down(rc.controller.Button.B):
print("Center distance:", center_distance)
# Display the current depth image
#rc.display.show_depth_image(depth_image)
# TODO (stretch goal): Prevent forward movement if the car is about to drive off a
# ledge. ONLY TEST THIS IN THE SIMULATION, DO NOT TEST THIS WITH A REAL CAR.
crop_bottom = depth_image[int(19 * rc.camera.get_height() /
20):rc.camera.get_height(),
-30 + int(rc.camera.get_width() / 2):30 +
int(rc.camera.get_width() / 2)]
crop_bottom = (crop_bottom - 0.1) % 10000
blur_bottom = cv.GaussianBlur(crop_bottom, (5, 5), cv.BORDER_DEFAULT)
__, farthestBottom, __, __ = cv.minMaxLoc(blur_bottom)
safeSpeed = 0 if farthestBottom > 65 and speed > 0 else speed
speed = safeSpeed if rc.controller.is_down(
rc.controller.Button.RB) == False else speed
print("farthestBottom: " + str(farthestBottom))
# TODO (stretch goal): Tune safety stop so that the car is still able to drive up
# and down gentle ramps.
# Hint: You may need to check distance at multiple points.
#I alraedy did this, look at the two uses of safetySpeed
rc.drive.set_speed_angle(speed, angle)
