def Keyborad_control():
while True:
global power_val
key = readkey()
if key == '6':
if power_val <= 90:
power_val += 10
print("power_val:", power_val)
elif key == '4':
if power_val >= 10:
power_val -= 10
print("power_val:", power_val)
if key == 'w':
fc.forward(power_val)
elif key == 'a':
fc.turn_left(power_val)
elif key == 's':
fc.backward(power_val)
elif key == 'd':
fc.turn_right(power_val)
else:
fc.stop()
if key == 'q':
print("quit")
break
def main():
while True:
scan_list = fc.scan_step(23)
# print(scan_list)
if not scan_list:
continue
scan_list = [str(i) for i in scan_list]
scan_list = "".join(scan_list)
paths = scan_list.split("2")
length_list = []
for path in paths:
length_list.append(len(path))
# print(length_list)
if max(length_list) == 0:
fc.stop()
else:
i = length_list.index(max(length_list))
pos = scan_list.index(paths[i])
pos += (len(paths[i]) - 1) / 2
# pos = int(pos)
delta = len(scan_list) / 3
# delta *= us_step/abs(us_step)
if pos < delta:
fc.turn_left(speed)
elif pos > 2 * delta:
fc.turn_right(speed)
else:
if scan_list[int(len(scan_list)/2-1)] == "0":
fc.backward(speed)
else:
fc.forward(speed)
def main():
time.sleep(5)
while True:
scan_list = fc.scan_step(buf)
if not scan_list:
continue
tmp = scan_list[2:8]
tmpL = scan_list[2:5]
tmpR = scan_list[5:8]
print(tmp)
if tmp != [2, 2, 2, 2, 2, 2]:
print("Back Off")
fc.backward(pow)
time.sleep(bak)
if sum(tmpL) > sum(tmpR):
print("Turn Left")
fc.turn_left(pow * 2)
else:
print("Turn Right")
fc.turn_right(pow * 2)
else:
fc.forward(pow)
async def main_func():
global recv_dict, send_dict, gs_list
while 1:
gs_list = fc.get_grayscale_list()
if recv_dict['CD'][0] == 'on':
if fc.is_on_edge(recv_dict['CD'][1], gs_list):
fc.backward(20)
time.sleep(0.5)
fc.stop()
if recv_dict['TL'][0] == 'on':
if fc.get_line_status(recv_dict['TL'][1], gs_list) == 0:
fc.forward(recv_dict['PW'])
elif fc.get_line_status(recv_dict['TL'][1], gs_list) == -1:
fc.turn_left(recv_dict['PW'])
elif fc.get_line_status(recv_dict['TL'][1], gs_list) == 1:
fc.turn_right(recv_dict['PW'])
if recv_dict['OA'] == 'on':
scan_list = fc.scan_step(35)
if scan_list:
tmp = scan_list[3:7]
if tmp != [2, 2, 2, 2]:
fc.turn_right(recv_dict['PW'])
else:
fc.forward(recv_dict['PW'])
elif recv_dict['OF'] == 'on':
scan_list = fc.scan_step(23)
if scan_list != False:
scan_list = [str(i) for i in scan_list]
scan_list = "".join(scan_list)
paths = scan_list.split("2")
length_list = []
for path in paths:
length_list.append(len(path))
if max(length_list) == 0:
fc.stop()
else:
i = length_list.index(max(length_list))
pos = scan_list.index(paths[i])
pos += (len(paths[i]) - 1) / 2
delta = len(scan_list) / 3
if pos < delta:
fc.turn_left(recv_dict['PW'])
elif pos > 2 * delta:
fc.turn_right(recv_dict['PW'])
else:
if scan_list[int(len(scan_list) / 2 - 1)] == "0":
fc.backward(recv_dict['PW'])
else:
fc.forward(recv_dict['PW'])
elif recv_dict['RD'] == 'on':
fc.scan_step(35)
await asyncio.sleep(0.01)
def move(direction):
if direction == b'w':
fc.forward(10)
elif direction == b'a':
fc.turn_left(10)
elif direction == b's':
fc.backward(10)
elif direction == b'd':
fc.turn_right(10)
def turn(self, angle: int, power: int = 10):
print(angle)
if angle < 0:
self.turn_right(abs(angle))
elif angle > 1:
self.turn_left(angle)
else:
while(fc.get_distance_at(0) < turn_dist):
fc.backward(2)
def mbackward():
speed4 = fc.Speed(25)
speed4.start()
fc.backward(15)
x = 0
for i in range(3):
time.sleep(0.1)
speed4.deinit()
fc.stop()
def move_and_detect(direction, distance, speed, camera, input_height,
input_width, interpreter, labels, threshold):
print("Move in", direction, "direction for", distance, "cm.")
distance_travelled = 0
if direction == 'w':
fc.forward(10)
elif direction == 'a':
fc.turn_left(10)
elif direction == 's':
fc.backward(10)
elif direction == 'd':
fc.turn_right(10)
else:
fc.stop()
return
stop_sign_detected = False
should_stop = True
while distance_travelled < distance:
stop = False
start_time = time.monotonic()
image = capture_frame(camera, input_height, input_width)
results = detect_objects(interpreter, image, threshold)
if (should_stop):
saw_stop_sign = "stop sign" in get_detected_object_labels(
results, labels)
if (saw_stop_sign):
print("Stop sign detected")
if (stop_sign_detected and not saw_stop_sign):
stop = True
stop_sign_detected = False
elif (not stop_sign_detected and saw_stop_sign):
stop_sign_detected = True
elapsed_seconds = (time.monotonic() - start_time)
print("Elapsed time (ms): ", elapsed_seconds * 1000)
print_object_labels(results, labels)
distance_travelled += speed() * elapsed_seconds
if (stop):
print("Stop for 3s")
fc.stop()
time.sleep(3)
should_stop = True
stop = False
fc.forward(10)
fc.stop()
def Remote_control(control_flag, speed=50):
speed = int(speed)
if control_flag == 'forward':
fc.forward(speed)
elif control_flag == 'backward':
fc.backward(speed)
elif control_flag == 'turn_left':
fc.turn_left(speed)
elif control_flag == 'turn_right':
fc.turn_right(speed)
else:
fc.stop()
def drive_backward(self, distance = 10, power = 5):
self.trip_meter.reset()
fc.backward(power)
while(self.trip_meter.distance < distance):
continue
fc.stop()
actually_traveled = self.trip_meter.distance
return actually_traveled
def state2(tick, clear=20, speed=10):
fc.backward(speed)
time.sleep(0.50)
fc.backward(0)
# pick random angle
angles = [22.5 * i for i in range(1, 16)]
angle = random.choice(angles)
if angle > 180: angle = angle - 360
print("tick {0} state 2 rotating angle {1:5.2f}".format(tick, angle))
turnAngle(angle)
return state1
def move25():
speed4 = Speed(25)
speed4.start()
# time.sleep(2)
fc.backward(100)
x = 0
for i in range(1):
time.sleep(0.1)
speed = speed4()
x += speed * 0.1
print("%smm/s"%speed)
print("%smm"%x)
speed4.deinit()
fc.stop()
def main():
time.sleep(5)
fc.forward(pow)
time.sleep(3)
fc.backward(pow)
time.sleep(2)
fc.turn_left(pow)
time.sleep(2)
fc.turn_right(pow)
time.sleep(2)
fc.stop()
def main():
while True:
scan_list = scan_step1(40)
if not scan_list:
continue
tmp = scan_list[3:7]
# if tmp == [0,0,0,0]:
# fc.backward(speed)
if 1 not in tmp:
print(tmp)
fc.forward(speed)
else:
print(tmp)
fc.stop()
time.sleep(0.3)
fc.backward(speed)
time.sleep(0.3)
fc.turn_right(speed)
def move(direction, distance):
print("Move in", direction, "direction for", distance, "cm.")
speed4 = Speed(25)
speed4.start()
time.sleep(2)
distance_travelled = 0
if direction == 'w':
print("w")
fc.forward(5)
elif direction == 'a':
fc.turn_left(10)
#fc.forward(10)
elif direction == 's':
fc.backward(10)
elif direction == 'd':
fc.turn_right(10)
#fc.forward(10)
elif direction == "wa":
print("wa")
fc.turn_left(5)
#fc.forward(10)
elif direction == "wd":
print("wd")
fc.turn_right(5)
#fc.forward(10)
else:
speed4.deinit()
fc.stop()
return
while distance_travelled < distance:
time.sleep(0.1)
distance_travelled += speed4() * 0.1
print("travelled", distance_travelled, "cm")
#print("eval 1: ", distance_travelled < distance )
speed4.deinit()
fc.stop()
def move(direction, distance, speed):
print("Move in", direction, "direction for", distance, "cm.")
distance_travelled = 0
if direction == 'w':
fc.forward(10)
elif direction == 'a':
fc.turn_left(10)
elif direction == 's':
fc.backward(10)
elif direction == 'd':
fc.turn_right(10)
else:
fc.stop()
return
while distance_travelled < distance:
time.sleep(0.1)
distance_travelled += speed() * 0.1
fc.stop()
def main():
reset_servo(-65)
while True:
#reset_servo(-65)
scan_list = fc.scan_step(25)
if not scan_list:
continue
tmp = scan_list[3:7]
print(tmp)
if tmp == [2,2,2,2]:
fc.forward(speed)
# reset_servo(-65)
else:
fc.stop()
time.sleep(0.5)
fc.backward(100)
time.sleep(0.5)
fc.stop()
time.sleep(0.5)
fc.turn_right(50)
