예제 #1
0
            steer_target = -steer_target * STEER_CORRECTION
            if car_speed > MIN_CAR_SPEED_TO_STEER:
                can_interface.run(steer_target)

            prints_can = "CAN DATA:\n"
            prints_can += f"    Motor speed: {motor_rpm} RPM\n"
            prints_can += f"    Car speed: {car_speed:.2f} m/s\n"
            steer_actual = can_interface.steering_sensor
            car_speed = can_interface.car_speed
            motor_rpm = can_interface.motor_rpm
            steer_target_last = steer_target

            # TODO put prints in a thread
            os.system("clear")
            print(prints_input, prints_controller, prints_can,
                  f"Total time: {(time()-time_start)*1000:>5.0f}")

            if SHOW_IMG:
                cv2.imshow("frame", cv2.resize(img, (640, 480)))
                if cv2.waitKey(1) == ord('q'):
                    break
            if SHOW_VIEWER:
                viewer.run(
                    [car_pos, [0, 0, 0, math.radians(steer_target)]],
                    predicted_path, blue, yellow, middle_points, blue_all,
                    yellow_all, fov_points)

        except KeyboardInterrupt:
            print("Keyboard interruption")
            exit()
예제 #2
0
# -*- coding: utf-8 -*-

import viewer

viewer.run("odemis")
예제 #3
0
# -*- coding: utf-8 -*-

import viewer

viewer.run("delphi")
예제 #4
0
              (0,1,2,AUSTIN), (3,2,1,AUSTIN), \
              (0,4,1,SALMON), (1,4,5,SALMON), \
              (2,3,7,SALMON), (2,7,6,SALMON)]

cube1 = wireframe.Wireframe(cube_nodes, cube_faces)
cube1.rotate_y(0.785398)
cube1.rotate_x(-0.523599)

cube_nodes = [(x,y,z) for x in (CENTER_X+100, CENTER_X+200) \
                      for y in (CENTER_Y-50, CENTER_Y+50) \
                      for z in (-50, 50)]

cube_faces = [(0,2,6,SEA), (0,6,4,SEA), \
              (7,3,1,SEA), (1,5,7,SEA), \
              (4,6,7,LIME), (7,5,4,LIME), \
              (0,1,2,LIME), (3,2,1,LIME), \
              (0,4,1,OLIVE), (1,4,5,OLIVE), \
              (2,3,7,OLIVE), (2,7,6,OLIVE)]

cube2 = wireframe.Wireframe(cube_nodes, cube_faces)
print("Created cubes!\n")

print("Creating viewer...")
viewer = viewer.Viewer(WIDTH, HEIGHT)
viewer.add_wireframe(cube1)
viewer.add_wireframe(cube2)
print("Created viewer!\n")

print("Running...")
viewer.run()
print("Done!")