reset_active = False # csak arra van hasznalva, hogy skippelje a vonalakat
pause_event = threading.Event() # magyarazat: lasd. gateway
pause_event.set() # not blocking by default; True = not paused, False = paused
picar.setup()
REFERENCES = [394, 329, 395, 402, 397]
#REFERENCES = [270,290,300,290,270]
#REFERENCES = [330,330,330,330,330]
refFile = "../referenceConfig"
fw = front_wheels.Front_Wheels(db='../wheel_config')
#fw.debug = True
bw = back_wheels.Back_Wheels(db='../wheel_config')
forwardSpeed = carconfig.getForwardSpeed()
lf = Line_Follower.Line_Follower()
fw.ready()
bw.ready()
#45
fw.turning_max = 50
logging.basicConfig(filename='car.log', level=logging.DEBUG, \
format="%(asctime)s %(message)s:")
logging.info("log started")
'''
#!/usr/bin/env python
import rospy
from picar import front_wheels, back_wheels
from picar.SunFounder_PCA9685 import Servo
import picar
from time import sleep
import numpy as np
from std_msgs.msg import Float64
bw = back_wheels.Back_Wheels()
fw = front_wheels.Front_Wheels()
pan_servo = Servo.Servo(1)
tilt_servo = Servo.Servo(2)
picar.setup()
bw.speed = 0
fw.turn(90)
pan_servo.write(90)
tilt_servo.write(90)
motor_speed = 100
curr_speed = 0
curr_dir = 0
def fw_movement(data):
curr_speed = data.data
if curr_speed > 0:
bw.speed = int(round(curr_speed))
bw.backward()
picar.setup()
REFERENCES = [200, 200, 200, 200, 200]
#calibrate = True
calibrate = False
forward_speed = 80
backward_speed = 70
turning_angle = 40
max_off_track_count = 40
delay = 0.0005
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
lf = Line_Follower.Line_Follower()
lf.references = REFERENCES
fw.ready()
bw.ready()
fw.turning_max = 45
def straight_run():
while True:
bw.speed = 70
bw.forward()
fw.turn_straight()
def __init__(self):
self.fw = front_wheels.Front_Wheels()
self.bw = back_wheels.Back_Wheels()
self.speed = 30
* Website : www.sunfounder.com
* Update : Cavon 2016-09-13 New release
**********************************************************************
'''
from django.shortcuts import render_to_response
from driver import camera, stream
from picar import back_wheels, front_wheels
from django.http import HttpResponse
from django.http import JsonResponse
import picar
picar.setup()
db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config"
fw = front_wheels.Front_Wheels(debug=False, db=db_file)
bw = back_wheels.Back_Wheels(debug=False, db=db_file)
cam = camera.Camera(debug=False, db=db_file)
cam.ready()
bw.ready()
fw.ready()
SPEED = 60
bw_status = 0
print stream.start()
def home(request):
return render_to_response("base.html")
from control.utils import Capture
from picar import back_wheels, front_wheels
import picar
import json
import cv2
import git
import glob
import os
import logging
try:
picar.setup()
fw = front_wheels.Front_Wheels(debug=False, db=settings.CONFIG_FILE)
bw = back_wheels.Back_Wheels(debug=False, db=settings.CONFIG_FILE)
cam = camera.Camera(debug=False, db=settings.CONFIG_FILE)
cam.ready()
bw.ready()
fw.ready()
straight_angle = fw._straight_angle
min_angle = fw._min_angle
max_angle = fw._max_angle
except:
fw = None
bw = None
cam = None
straight_angle = 90
min_angle = 45
max_angle = 135
print('[!] Cannot setup picar, are your running on a Raspberry Pi?')
class PiCarController:
force_turning = 0 # 0 = random direction, 1 = force left, 2 = force right, 3 = orderdly
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
fw.turning_max = 45
forward_speed = 100
backward_speed = 100
back_distance = 10
turn_distance = 20
timeout = 10
last_angle = 90
last_dir = 0
turning_angle = 8
current_angle = 100
moving = False
turning = False
def debug(self, func):
print(func)
print("is moving - {}".format(self.moving))
print("is turning - {}".format(self.turning))
def on_press(self, key):
self.debug("on_press")
if key in [Key.up, Key.down, Key.left, Key.right]:
if key == Key.down and self.moving is False:
self.moving = True
print("down")
self.bw.backward()
self.bw.speed = self.backward_speed
elif key == Key.up and self.moving is False:
print("up")
self.moving = True
self.bw.forward()
self.bw.speed = self.forward_speed
elif key == Key.left and self.turning is False:
self.turning = True
print("left")
if self.current_angle - self.turning_angle > 50:
self.current_angle -= self.turning_angle
self.fw.turn(self.current_angle)
elif key == Key.right and self.turning is False:
self.turning = True
print("right")
if self.current_angle + self.turning_angle < 150:
self.current_angle += self.turning_angle
self.fw.turn(self.current_angle)
def on_release(self, key):
self.debug("on_release")
if key in [Key.up, Key.down, Key.left, Key.right]:
if key == Key.down and self.moving is True:
self.moving = False
print("down - stop")
self.bw.stop()
elif key == Key.up and self.moving is True:
self.moving = False
print("up - stop")
self.bw.stop()
elif key == Key.left and self.turning is True:
self.turning = False
print("left - stop")
elif key == Key.right and self.turning is True:
self.turning = False
print("right - stop")
if key == Key.esc:
# Stop listener
return False
