def main():
scale = 16000.0 # Vjoy stuff.
vj.open()
while (True):
#speed = Get_Speed(clf) # Get current speed. , # I'll leave the speed cap deactivated as a default
#Cap_Speed(speed) # Make sure we aren't going too fast. , # I'll leave the speed cap deactivated as a default
screen = grab_screen(region=ROI) #Screenshot part of window.
screen = np.array(screen) #Make screenshot into array.
screen = cv2.resize(screen, (120, 60)) #Resize to a 120x60 pic.
pic_array = screen.reshape(60, 120, 3)
prediction = model.predict({'input_pic': [pic_array]})[0]
steer = (prediction[2] - prediction[0])**3
setJoy(steer + 0.024, 0, scale) # +0.024 Helps fix joystick offset.
vj.close()
def main():
print("vJoy Opening")
vj.open()
time.sleep(0.5)
# place_waypoints()
print("Scanning Memory")
scanner = HeapScanner(0x034B0000)
wp1d_addr = scanner.scan_memory("2.1 m")
wp1a_addr = scanner.scan_memory("-54.91")
wp2a_addr = scanner.scan_memory("+99.91")
print('Creating pipelines')
# GRIP generated pipelines for cones and mobile goals
cone_pipeline = ConePipeline()
rmg_pipeline = RedMobileGoalPipeline()
bmg_pipeline = BlueMobileGoalPipeline()
print('Running pipeline')
last_time = time.time()
while True:
have_frame, frame = grab_screen()
if have_frame:
# GRIP frame processing
cone_pipeline.process(frame)
rmg_pipeline.process(frame)
bmg_pipeline.process(frame)
# Final processing (coloring, etc.)
images = [
frame,
extra_processing_cones(cone_pipeline),
extra_processing_red_mobile_goals(rmg_pipeline),
extra_processing_blue_mobile_goals(bmg_pipeline),
blank_image.copy()
]
for i in range(len(images)):
images[i] = cv2.resize(images[i],
None,
fx=0.6,
fy=0.6,
interpolation=cv2.INTER_AREA)
r = num_from_distance_string(scanner.read_memory(wp1d_addr, 6))
theta = num_from_angle_string(scanner.read_memory(wp2a_addr, 6))
wp1_t = num_from_angle_string(scanner.read_memory(wp1a_addr, 6))
if r is not None and theta is not None and wp1_t is not None:
theta = radians(theta)
x = r * fabs(mp.cos(theta))
y = x * mp.tan(theta)
# To write to joystick call set_joy
# set_joy(xval, yval)
# Show all filters in 4x4 grid
cv2.imshow(
'Filters',
np.hstack([
np.vstack([np.hstack(images[0:2]),
np.hstack(images[2:4])]),
np.vstack([images[4], blank_image_scaled])
]))
if cv2.waitKey(10) == 27:
print('Capture closed')
cv2.destroyAllWindows()
cleanup_gui_helper()
vj.close()
return
else:
print("fps: ", int(1 / (time.time() - last_time)))
last_time = time.time()
rows = []
rowtotal = 0
for i in range(height):
for j in range(width):
rowtotal += thresholded[i][j]
rows.append(rowtotal / width)
rowtotal = 0
#most white row
middlecol = False
for i in range(height):
if thresholded[i][width // 2] == 255:
middlecol = True
break
if middlecol:
heightcalib = rows.index(max(rows))
calibrateflag = True
print("Calibrated!")
print("Press 'q' to quit.")
else:
print("Error: make sure you hand is centered in frame.")
setJoy(xPos, yPos, scale)
# free up memory
camera.release()
cv2.destroyAllWindows()
# calling this function requests that the background listener stop listening
#stop_listening(wait_for_stop=False)
setJoy(0, 0, scale)
vj.close()