def setWFD_freq(self, freq):
if freq > 0:
if freq > default_settings.Default_RPM_limit.max / 60:
freq = default_settings.Default_RPM_limit.max / 60
controls.set_speed(freq)
controls.start()
else:
freq = 0
controls.stop()
self.expr.WFD_freq = freq
return freq
def selfDrive(guide):
"""Tesla Car"""
if guide == [1]: #00
cn.forward()
#stop()
elif guide == [2]: #01
cn.right()
#stop()
elif guide == [0]:
cn.left()
#stop()
elif guide == [3]:
cn.stop()
def main(command=None):
if len(sys.argv) == 2:
command = command or sys.argv[1]
if command == 'start':
install()
start()
elif command == 'stop':
stop()
elif command == 'install':
install()
elif command == 'uninstall':
stop()
uninstall()
else:
invalid()
def turn_interface(root):
main_frame = tk.Frame(root, bg=bg_color, bd=0)
main_frame.place(relx = 0, rely = 0, relwidth=1, relheight=1)
"""HEADER"""
subframe_name = tk.Frame(main_frame, bg=second_color, bd=0)
subframe_name.place(relx=0, rely=0, relwidth=1, relheight=0.06)
name_label = tk.Label(subframe_name, text='Maxwell pendulum modeling', font=(headers_font, 30), bg=second_color)
name_label.place(relx = 0.05, rely = 0.5, anchor='w')
author_label = tk.Label(subframe_name, text='designed by Timofey Antipov', font=(headers_font, 10), bg=second_color)
author_label.place(relx=0.9, rely=0.95, anchor='se')
"""END OF HEADER"""
"""PARAMETERS FRAME"""
parameters_frame = MyFrame()
parameters_frame.set_frame(main_frame, 0.02, 0.075, 0.45, 0.12)
parameters_frame.set_label("Model\nparameters", 0.25)
# Radius area
r_ax = Param_block(parameters_frame.frame, "Axle radius (cm):", 1, 0.25, 0, 0.25)
r_disk = Param_block(parameters_frame.frame, "Disk radius (cm):", 1, 0.25, 0.5, 0.75)
# Mass area
m_ax = Param_block(parameters_frame.frame, "Axle mass (g):", 1, 0.5, 0, 0.25)
m_disk = Param_block(parameters_frame.frame, "Disk mass (g):", 1, 0.5, 0.5, 0.75)
# Length area
l_cyl = Param_block(parameters_frame.frame, "Cylinder length (cm):", 1, 0.75, 0, 0.25)
l_thread = Param_block(parameters_frame.frame, "Thread length (cm):", 1, 0.75, 0.5, 0.75)
"""END OF PARAMETERS FRAME"""
"""INITIAL CONDITIONS"""
conditions_frame = MyFrame()
conditions_frame.set_frame(main_frame, 0.02, 0.215, 0.45, 0.06)
conditions_frame.set_label("Initial conditions", 0.25)
z_0 = Param_block(conditions_frame.frame, "Coordinate:", 0, 0.25, 0, 0.5, 0.5)
v_0 = Param_block(conditions_frame.frame, "Velocity:", 0, 0.5, 0, 0.5, 0.5)
direct_label = tk.Label(conditions_frame.frame, text="Direction:", font=(general_font, 16), bg=bg_color, fg=second_color)
direct_label.place(relx=0.75, rely=0, relwidth=0.25, relheight=0.5)
dir_var = tk.StringVar()
direct_radio_up = tk.Radiobutton(conditions_frame.frame, text="Up", font=(general_font, 14), variable=dir_var, value='up')
direct_radio_up.place(relx=0.75, rely=0.5, relwidth=0.125, relheight=0.5)
direct_radio_down = tk.Radiobutton(conditions_frame.frame, text='Down', font=(general_font, 14), variable=dir_var, value='down')
direct_radio_down.place(relx=0.875, rely=0.5, relwidth=0.125, relheight=0.5)
"""END OF INITIAL CONDITIONS"""
"""CONTROL PANEL"""
control_frame = MyFrame()
control_frame.set_frame(main_frame, 0.02, 0.295, 0.45, 0.06)
control_frame.set_label("Controls", 0.25)
entries = [m_disk.field, m_ax.field, r_disk.field,
r_ax.field, l_cyl.field, l_thread.field, z_0.field, v_0.field, direct_radio_up, direct_radio_down]
start_command = lambda: controls.start(start_button.button, stop_button.button, [m_disk.field.get(), m_ax.field.get(), r_disk.field.get(),
r_ax.field.get(), l_cyl.field.get(), l_thread.field.get(), z_0.field.get(), v_0.field.get(), str(dir_var.get())], entries)
stop_command = lambda: controls.stop(start_button.button, stop_button.button)
start_button = Control_button(control_frame.frame, "Start", start_command, 0.3, 0.1)
stop_button = Control_button(control_frame.frame, "Stop", stop_command, 0.65, 0.1)
"""END OF CONTROL PANEL"""
"""GRAPH 1"""
graph1_frame = MyFrame()
graph1_frame.set_frame(main_frame, 0.02, 0.41, 0.45, 0.55)
graph1_frame.set_label("Time dependence", Width=1, Height=0.1)
pic1 = tk.Frame(graph1_frame.frame, bg='white')
pic1.place(relx=0,rely=0.1, relwidth=1, relheight=0.9)
controls.show_time_dep(pic1)
"""END OF GRAPH 1"""
"""GRAPH 2"""
graph2_frame = MyFrame()
graph2_frame.set_frame(main_frame, 0.53, 0.41, 0.45, 0.55)
graph2_frame.set_label("Phase portrait", Width=1, Height=0.1)
pic2 = tk.Frame(graph2_frame.frame, bg='white')
pic2.place(relx=0,rely=0.1, relwidth=1, relheight=0.9)
controls.show_portrait(pic2)
"""END OF GRAPH 2"""
"""VALUES TABLE"""
table_frame = MyFrame()
table_frame.set_frame(main_frame, 0.53, 0.075, 0.45, 0.28)
table_frame.set_label("Result data", Width=1, Height=0.1)
pic3 = tk.Frame(table_frame.frame, bg='white')
pic3.place(relx=0,rely=0.1, relwidth=1, relheight=0.9)
controls.show_table(pic3)
"""END OF VALUES TABLE"""
def modelCar(q):
"""Thread- 2 """
print("thread 2")
data = "xc"
key = 0
model_path = "/home/pi/Desktop/work/DB/reserve"
g_1 = tf.Graph()
with g_1.as_default():
n_nodes_hl1 = 1600
n_classes = 4
x = tf.placeholder('float', [None, 3200])
y = tf.placeholder('float')
prediction = neural_network_model(x)
saver = tf.train.Saver()
sess = tf.Session(graph = g_1)
#sess.run(init)
saver.restore(sess, model_path)
"""a = 0"""
msg = "hi"
while True:
print("namaste")
try:
data_1 = so.receive_fromRemote1()
if data_1 == "close":
cn.stop()
print("remote not working")
while True:
so.receive_fromRemote1()
try:
so.receive_fromRemote()
data = "ef"
except Exception:
asdf = 1
break """"""
data = "ef"
except Exception:
try:
data = so.receive_fromRemote()
key = 1
if data == "man":
while True:
X = cp.captureImage()
guide = (sess.run(tf.argmax(prediction,1), feed_dict={x: [X] } ))
selfDrive(guide)
print("selfdrive")
sleep(0.01)
try:
data = so.receive_fromRemote()
key = 1
if data == "man":
msg = "Manual_mode"
so.send_toRemote(msg)
key = 0
print("going to semi-manual")
break
except Exception:
print("nnn")
except Exception:
print("der")
if data == "ab": """Forward"""
X = cp.captureImage()
predict = (sess.run(tf.argmax(prediction,1), feed_dict={x: [X] } ))
if predict == [0]:
cn.forward()
else:
selfDrive(predict)
print("forward")
if key == 1:
so.send_toRemote("Moving forward")
key = 0
data = "ef"
elif data == "bc": """Back"""
print("back")
if key == 1:
so.send_toRemote("Moving back")
key = 0
cn.back()
data = "ef"
data = "ef"
elif data == "ef": """Stop"""
print("stop")
sig_ultrason = notice
if sig_ultrason == 4:
cn.forward_sonic()
if key == 1:
so.send_toRemote("stop")
key = 0
cn.stop()
elif data == "fg": """End program"""
msg = "end program"
print("end program")
prog_end()
qw = 23
q.put(qw)
time.sleep(1)
print("Terminating Thread 2")
break