def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
scan = rc.lidar.get_samples()
highlighted_samples = [
] # Samples we will highlight in the LIDAR visualization
# Choose speed based on forward distance
_, front_dist = rc_utils.get_lidar_closest_point(
scan, (-FRONT_DIST_ANGLE, FRONT_DIST_ANGLE))
speed = rc_utils.remap_range(front_dist, 0, BRAKE_DISTANCE, 0, MAX_SPEED,
True)
# Measure distance to the left and right walls ahead of the car
left_ahead = rc_utils.get_lidar_average_distance(scan, -SIDE_ANGLE)
right_ahead = rc_utils.get_lidar_average_distance(scan, SIDE_ANGLE)
ratio = left_ahead / right_ahead if left_ahead > 0 and right_ahead > 0 else 1.0
# If there is a wall ahead and the left wall is significantly father, assume that
# the hallway has turned left
if front_dist < BRAKE_DISTANCE and ratio > LEFT_TURN_RATIO:
angle = -1
print("HARD LEFT: ratio", ratio, "front dist", front_dist)
# Otherwise, try to stay GOAL_DIST away from the right wall
else:
right_wall_angle, right_wall_dist = rc_utils.get_lidar_closest_point(
scan, WINDOW_ANGLES)
angle = rc_utils.remap_range(right_wall_dist, GOAL_DIST / 2, GOAL_DIST,
-1, 0)
angle = rc_utils.clamp(angle, -1, 1)
# Display the closest point on the right wall
highlighted_samples = [(right_wall_angle, right_wall_dist)]
rc.drive.set_speed_angle(speed, angle)
rc.display.show_lidar(scan, highlighted_samples=highlighted_samples)
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 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
"""
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 cur_mode
scan = rc.lidar.get_samples()
speed = 0
angle = 0
# Find the minimum distance to the front, side, and rear of the car
front_angle, front_dist = rc_utils.get_lidar_closest_point(
scan, (-MIN_SIDE_ANGLE, MIN_SIDE_ANGLE)
)
left_angle, left_dist = rc_utils.get_lidar_closest_point(
scan, (-MAX_SIDE_ANGLE, -MIN_SIDE_ANGLE)
)
right_angle, right_dist = rc_utils.get_lidar_closest_point(
scan, (MIN_SIDE_ANGLE, MAX_SIDE_ANGLE)
)
# Estimate the left wall angle relative to the car by comparing the distance
# to the left-front and left-back
left_front_dist = rc_utils.get_lidar_average_distance(
scan, -SIDE_FRONT_ANGLE, WINDOW_ANGLE
)
left_back_dist = rc_utils.get_lidar_average_distance(
scan, -SIDE_BACK_ANGLE, WINDOW_ANGLE
)
left_dif = left_front_dist - left_back_dist
# Use the same process for the right wall angle
right_front_dist = rc_utils.get_lidar_average_distance(
scan, SIDE_FRONT_ANGLE, WINDOW_ANGLE
)
right_back_dist = rc_utils.get_lidar_average_distance(
scan, SIDE_BACK_ANGLE, WINDOW_ANGLE
)
right_dif = right_front_dist - right_back_dist
# If we are within PANIC_DISTANCE of either wall, enter panic mode
if left_dist < PANIC_DISTANCE or right_dist < PANIC_DISTANCE:
cur_mode = Mode.left_panic if left_dist < right_dist else Mode.right_panic
# If there are no visible walls to follow, stop the car
if left_front_dist == 0.0 and right_front_dist == 0.0:
speed = 0
angle = 0
# LEFT PANIC: We are close to hitting a wall to the left, so turn hard right
elif cur_mode == Mode.left_panic:
angle = 1
speed = PANIC_SPEED
if left_dist > END_PANIC_DISTANCE:
cur_mode = Mode.align
# RIGHT PANIC: We are close to hitting a wall to the right, so turn hard left
elif cur_mode == Mode.right_panic:
angle = -1
speed = PANIC_SPEED
if right_dist > END_PANIC_DISTANCE:
cur_mode = Mode.align
# ALIGN: Try to align straight and equidistant between the left and right walls
else:
# If left_dif is very large, the hallway likely turns to the left
if left_dif > TURN_THRESHOLD:
angle = -1
# Similarly, if right_dif is very large, the hallway likely turns to the right
elif right_dif > TURN_THRESHOLD:
angle = 1
# Otherwise, determine angle by taking into account both the relative angles and
# distances of the left and right walls
value = (right_dif - left_dif) + (right_dist - left_dist)
angle = rc_utils.remap_range(
value, -TURN_THRESHOLD, TURN_THRESHOLD, -1, 1, True
)
# Choose speed based on the distance of the object in front of the car
speed = rc_utils.remap_range(front_dist, 0, BRAKE_DISTANCE, 0, MAX_SPEED, True)
rc.drive.set_speed_angle(speed, angle)
# Show the lidar scan, highlighting the samples used as min_dist measurements
highlighted_samples = [
(front_angle, front_dist),
(left_angle, left_dist),
(right_angle, right_dist),
]
rc.display.show_lidar(scan, highlighted_samples=highlighted_samples)
# 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 calculated statistics when the B button is held down
if rc.controller.is_down(rc.controller.Button.B):
print(
"front_dist {:.2f}, left_dist {:.2f} cm, left_dif {:.2f} cm, right_dist {:.2f} cm, right_dif {:.2f} cm".format(
front_dist, left_dist, left_dif, right_dist, right_dif
)
)
# Print the current mode when the X button is held down
if rc.controller.is_down(rc.controller.Button.X):
print("Mode:", cur_mode)