def __init__(self, device):
self.CarCon = CarControl(device)
self.crossroad = False
self.fullcross = False
self.walls = [10000, 10000, 10000]
self.CarCon.turn(CarSettings.DefaultAngle)
self.CarCon.move(0, CarSettings.Stop)
pass
class Car:
def __init__(self, device):
self.CarCon = CarControl(device)
def Road(self):
self.CarCon.move(1, 125)
time.sleep(0.5)
while True:
time.sleep(1)
walls = self.CarCon.getDistance()
time.sleep(1)
print(walls[0], walls[1], walls[2])
if walls[1] < CarSettings.CriticalWallRange:
self.CarCon.move(0, CarSettings.Stop)
break
from CarControl import CarControl
import time
import cv2
def wait_for_yellow_lane(cc):
cc.rf.set_l_found(False)
while not cc.rf.get_l_found():
cc.update_sensors() # update the sensors every loop
t, rgb = cc.sensor.get_rgb_data() # get color image
frame, commands = cc.rf.find_lanes(rgb) # find lines in image
if __name__ == '__main__':
cc = CarControl() # create object to control car
count = 0 # debouncer for finding limit lines
speed = 0.35 # 0.3
# run the loop, waiting for a keyboard interrupt
try:
print("Beginning loop")
cc.steer(0) # straighten steering
lastSteerAngle = 0 # to keep track of steering value
cc.drive(0.6) # drive fast to get the car going
time.sleep(0.5) # get it up to speed
cc.drive(speed) # slow down to a slower speed
# intersection_counter = 0
# corner_turn = 'r'
# type_of_turn = 'i'
import numpy as np import cv2 import pygame from pygame.locals import * import time import os import RPi.GPIO as GPIO from CarControl import CarControl # set IO and GPIO mod # GPIO.cleanup() # pygame init pygame.init() car = CarControl() save_img = True cap = cv2.VideoCapture(0) cap.set(3, 320) # 原始寬度。原始圖大小:320*240 = 76800 cap.set(4, 240) # 原始高度 # create labels k = np.eye(3) # k = np.zeros((3, 3), 'float') # for i in range(3): # k[i, i] = 1 # temp_label = np.zeros((1, 3), 'float') screen = pygame.display.set_mode((320, 240)) frame = 1 saved_frame = 0
class Car:
def __init__(self, device):
self.CarCon = CarControl(device)
self.crossroad = False
self.fullcross = False
self.walls = [10000, 10000, 10000]
self.CarCon.turn(CarSettings.DefaultAngle)
self.CarCon.move(0, CarSettings.Stop)
pass
def nothing(self):
self.CarCon.move(1, CarSettings.MoveSpeed)
while not self.fullcross:
cop = self.CarCon.getDistance()
for i in range(3):
if type(cop[i]) == type(None):
self.walls[i] = 10000
else:
self.walls[i] = cop[i]
self.walls = self.CarCon.getDistance()
if self.walls[0] > CarSettings.MaxWallRange or self.walls[
2] > CarSettings.MaxWallRange: # подставить константы
self.crossroad = True
else:
self.crossroad = False
if self.walls[0] > CarSettings.MaxWallRange and self.walls[
2] > CarSettings.MaxWallRange: # подставить константы
self.fullcross = True
else:
self.fullcross = False
print(walls)
if self.walls[1] < CarSettings.WallRange:
if self.walls[0] > CarSettings.WallRange:
self.CarCon.turn(CarSettings.RightToLeftDegree)
self.CarCon.move(1, CarSettings.MoveSpeed)
self.CarCon.turn(CarSettings.DefaultAngle)
elif self.walls[1] > CarSettings.WallRange:
self.CarCon.turn(CarSettings.RightToLeftDegree)
self.CarCon.move(1, CarSettings.MoveSpeed)
self.CarCon.turn(CarSettings.DefaultAngle)
else:
self.CarCon.move(0, CarSettings.Stop)
else:
if self.walls[
0] < CarSettings.WallRange: # отъезжаем от стены или от линии подобрать константы
self.CarCon.turn(
CarSettings.LeftToRightDegree) # угол настроить
self.CarCon.move(1, CarSettings.MoveSpeed)
self.CarCon.turn(CarSettings.DefaultAngle)
pass
if self.walls[2] < CarSettings.WallRange: #
self.CarCon.turn(CarSettings.RightToLeftDegree)
self.CarCon.move(1, CarSettings.MoveSpeed)
self.CarCon.turn(CarSettings.DefaultAngle)
pass
else:
self.CarCon.move(1, CarSettings.MoveSpeed) # прямо
self.CarCon.move(0, CarSettings.Stop)
return 1 # иначе завершаем движение и выдаем знак
pass
# Lane Testing using birds eye view
from LaneFollower import LaneFollower
from CarControl import CarControl
from matplotlib import pyplot as plt
import argparse
import imutils
import time
import numpy as np
import cv2
cc = CarControl()
LF = LaneFollower()
count = 0
# vs = cv2.VideoCapture("/dev/video2", cv2.CAP_V4L) # ls -ltr /dev/video*
# vs = cv2.VideoCapture("C:/Users/benjj/Documents/College/Fall2019/ECEN522/Code/SDCars/class_code/TestVideo.avi")
for lamePhoto in range(1, 10):
(grabbed, frame) = cc.sensor.vs.read()
cc.steer(-3)
cc.drive(0.6)
time.sleep(1)
cc.drive(0.4)
currentAngle = -3
currentSpeed = 0.4
while True:
# read the next frame from the file
(grabbed, frame) = cc.sensor.vs.read()
from LaneDetection import LaneDetection
from CarControl import CarControl
from ObstacleDetection import ObstacleDetection
from ModeView import ModeView
camera = PiCamera()
camera.resolution = (960, 540)
camera.framerate = 15
rawCapture = PiRGBArray(camera, size=(960, 540))
time.sleep(0.1)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
laneDetection = LaneDetection()
carControl = CarControl()
modeView = ModeView()
obstacleDetection = ObstacleDetection()
backLeft = [0, 0, 0, 0]
backRight = [0, 0, 0, 0]
vp_slope = [-1, backLeft, backRight]
img2 = np.zeros((540, 960, 3), np.uint8)
check = 0
click = 0
def mouse_callback(event, x, y, flags, param):
global check
global click
def __init__(self, device):
self.CarCon = CarControl(device)