''' Filename: picar_move.py Description: First attempt at getting the PiCar to run a custom program. Author: Andi Frank E-mail: [email protected] Purpose: CSE 276A: Intro to Robotics; Fall 2019 Inspiration drawn from: https://github.com/korzen/PiCar_ROS/ ''' import time import SunFounder_PiCar.picar as pc pc.setup() fw = pc.front_wheels.Front_Wheels(db="config") bw = pc.back_wheels.Back_Wheels(db="config") fw.turning_max = 30 fwd_speed = 50 bkw_speed = 50 bw.speed = fwd_speed fw.ready() bw.ready() DELAY = .2 try:
def __init__(self):
self.fwheels = front_wheels.Front_Wheels(debug=False)
self.bwheels = back_wheels.Back_Wheels(debug=False)
picar.setup()
import numpy as np
import cv2
from SunFounder_PiCar.picar import front_wheels
from SunFounder_PiCar.picar import back_wheels
import SunFounder_PiCar.picar as picar
picar.setup()
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
fw.turning_max = 45
ball_detected_speed = 50
def steering(position, distance, framesize):
rel_position = (framesize / 2) - position
angle = np.degrees(np.arctan(np.abs(rel_position) / distance))
if rel_position < 0:
drive_angle = 90 + angle
else:
drive_angle = 90 - angle
fw.turn(drive_angle)
bw.forward()
bw.speed(ball_detected_speed)
def steer_to_bbox(bbox, frame):
hpos = (np.size(frame, 1) / 2) - (bbox[0] + (bbox[2] - bbox[0]))
vpos = (np.size(frame, 2) / 2) - (bbox[1] + (bbox[1] - bbox[3]))