def steer(self, prediction):
# FORWARD
if np.all(prediction == [0., 0., 1.]):
car.forward(100)
car.pause(300)
dir_log.append('Forward')
print 'Forward'
# FORWARD-LEFT
elif np.all(prediction == [1., 0., 0.]):
car.left(300)
car.forward_left(200)
car.left(700)
car.pause(200)
dir_log.append('Left')
print 'Left'
# FORWARD-RIGHT
elif np.all(prediction == [0., 1., 0.]):
car.right(300)
car.forward_right(200)
car.right(700)
car.pause(200)
dir_log.append('Right')
print 'Right'
def ctrl_z(self):
print '\n< < < CTRL-Z MODE ACTIVATED! > > >'
last_dir = dir_log[-1]
# Forward -> Reverse
if last_dir == 'Forward':
car.reverse(200)
car.pause(500)
print '< REVERSE >'
# Left -> Reverse-Left
elif last_dir == 'Left':
car.left(300)
car.reverse_left(250)
car.left(700)
car.pause(500)
print '< REVERSE-LEFT >'
# Right -> Reverse-Right
elif last_dir == 'Right':
car.right(300)
car.reverse_right(250)
car.right(700)
car.pause(500)
print '< REVERSE-RIGHT >'
return
def make_decision(self):
# Calculate the percent_difference to decide whether to act on 'difference'
print 'make_decision1'
calc_difference = np.sum(self.difference)
max_difference = np.sum(255 * self.difference.shape)
percent_difference = float(calc_difference) / max_difference
print 'make_decision2'
# If percent_difference is below ctrlz_thresh (i.e. the two images are < 5% different), then commence ctrl-z protocol.
if percent_difference <= self.ctrlz_thresh:
# Activate ctrl-z mode
print '< < < CTRL-Z MODE ACTIVATED! > > >'
# Get the last 10 directions executed from the log (or however many you specified for self.ctrlz_iter)
recent_dirs = dir_log[-self.ctrlz_iter:]
recent_dirs_reversed = recent_dirs.reverse()
for each in recent_dirs_reversed:
# Forward -> Reverse
if each == 'Forward':
car.reverse(100)
car.pause(300)
print '< REVERSE >'
# Left -> Right
elif each == 'Left':
car.right(300)
car.reverse_right(200)
car.right(700)
car.pause(200)
print '< REVERSE-RIGHT >'
# FORWARD-RIGHT
elif each == 'Right':
car.left(300)
car.reverse_left(200)
car.left(700)
car.pause(200)
print '< REVERSE-LEFT >'
def steer(self, prediction):
# FORWARD
if np.all(prediction == [0., 0., 1.]):
car.forward(100)
car.pause(500)
print("Forward")
# FORWARD-LEFT
elif np.all(prediction == [1., 0., 0.]):
car.left(300)
car.forward_left(200)
car.left(700)
car.pause(500)
print("Left")
# FORWARD-RIGHT
elif np.all(prediction == [0., 1., 0.]):
car.right(300)
car.forward_right(200)
car.right(700)
car.pause(500)
print("Right")
import car ''' Move forward for 1000ms (1s) and pause. ''' car.forward(1000) car.pause(1000) car.forward(1000) car.pause(1000) ''' Move backward for 1000ms (1s) and pause. ''' car.reverse(1000) car.pause(1000) car.reverse(1000) car.pause(500)
def stop(self):
print ('* * * STOPPING! * * *')
car.pause(5000)
def stop(self):
print ' * * * STOPPING! * * * '
car.pause(8000)
def stop(self):
print '*** STOPPING! ***'
car.pause(8000)
car.forward(100)
