def run(self):
try:
GpioMgmt().init_pwm()
self.ultrasonic.init_pwm()
self.detect_to_turn()
self.listen()
except Exception as e:
GpioMgmt().init_pin()
logging.error(str(e))
def run(self):
try:
logging.debug('Start smartcar in mode auto_pilot with sensors ...')
GpioMgmt().init_pwm()
self.ultrasonic.init_pwm()
self._run()
except Exception as e:
GpioMgmt().init_pin()
logging.error(str(e))
def run(self):
try:
logging.debug('Start smartcar in mode auto_pilot with camera ...')
GpioMgmt().init_pwm()
# self.ultrasonic.init_pwm()
self._run()
except KeyboardInterrupt as e:
GpioMgmt().release()
logging.info("[+] Exiting")
raise e
except Exception as e:
GpioMgmt().init_pin()
logging.error(str(e))
def listen(self, *args, **kwargs):
'''
Function to control the bot using threading. Define the clientSocket in the module before use
'''
try:
with Listener(on_press=self._on_press,
on_release=self._on_release) as listener:
listener.join()
except KeyboardInterrupt:
GpioMgmt().release()
self.headlight.off()
logging.info("[+] Exiting")
# clientSocket.close()
raise e
except Exception as e:
GpioMgmt().release()
self.headlight.off()
logging.error(str(e))
# clientSocket.close()
raise e
left_sensor, right_sensor = self.detect()
logging.debug(
f'Infra red detecting ... \nleft: {left_sensor} right: {right_sensor}'
)
if left_sensor is True and right_sensor is True:
return False
else:
self.motor.aquire()
if left_sensor is True and right_sensor is False:
self.motor.spin_left(force=True) # 右边探测到有障碍物，有信号返回，原地向左转
time.sleep(0.01)
elif right_sensor is True and left_sensor is False:
self.motor.spin_right(force=True) # 左边探测到有障碍物，有信号返回，原地向右转
time.sleep(0.01)
elif right_sensor is False and left_sensor is False:
self.motor.spin_right(force=True) # 当两侧均检测到障碍物时调用固定方向的避障(原地右转)
time.sleep(0.01)
self.motor.free()
self.motor.release()
return True
if __name__ == '__main__':
ifr = Infrared()
GpioMgmt().init_pwm()
while True:
ifr.motor.aquire()
ifr.detecting()
time.sleep(0.5)
import argparse
from gpio_mgmt import GpioMgmt
from key_pilot import KeyPilot
from settings import logging
parser = argparse.ArgumentParser()
parser.add_argument('-m', '--mode', help='Pilot mode: auto, key')
args = parser.parse_args()
try:
if args.mode == 'auto':
pass
if args.mode == 'key':
kp = KeyPilot()
kp.run()
except Exception as e:
logging.error(f'[ERROR] fail to run in key mode: {e}')
GpioMgmt().release()