def servo_install(angle):
servo0 = Servo.Servo(0, bus_number=1)
servo1 = Servo.Servo(1, bus_number=1)
servo2 = Servo.Servo(2, bus_number=1)
servo0.write(angle)
servo1.write(angle)
servo2.write(angle)
print "Servo set to", angle, "degrees.\n"
def __init__(self, channel, initial_angle=90, min_angle=0, max_angle=180):
self.servo = Servo.Servo(channel)
self.channel = channel
self.min_angle = min_angle
self.max_angle = max_angle
self.initial_angle = initial_angle
self.current_angle = initial_angle
self.move()
def __init__(self, debug=False, bus_number=1, db="config"):
''' Init the servo channel '''
self.db = filedb.fileDB(db=db)
self.pan_offset = int(self.db.get('pan_offset', default_value=0))
self.tilt_offset = int(self.db.get('tilt_offset', default_value=0))
self.pan_servo = Servo.Servo(self.pan_channel, bus_number=bus_number, offset=self.pan_offset)
self.tilt_servo = Servo.Servo(self.tilt_channel, bus_number=bus_number, offset=self.tilt_offset)
self.debug = debug
if self._DEBUG:
print(self._DEBUG_INFO, 'Pan servo channel:', self.pan_channel)
print(self._DEBUG_INFO, 'Tilt servo channel:', self.tilt_channel)
print(self._DEBUG_INFO, 'Pan offset value:', self.pan_offset)
print(self._DEBUG_INFO, 'Tilt offset value:', self.tilt_offset)
self.current_pan = 0
self.current_tilt = 0
self.ready()
def __init__(self,
bus_number=1,
pan_channel=1,
tilt_channel=2,
camera_type=ABSOLUTE):
# The value to set Servo object offset to.
offset = 0
self._db = filedb.fileDB("config")
self._pan_offset = int(self._db.get('pan_offset', default_value=0))
self._tilt_offset = int(self._db.get('tilt_offset', default_value=0))
self._pan_servo = Servo.Servo(pan_channel,
bus_number=bus_number,
offset=offset)
self._tilt_servo = Servo.Servo(tilt_channel,
bus_number=bus_number,
offset=offset)
self._camera_type = RELATIVE if camera_type is RELATIVE else ABSOLUTE
self._current_pan_angle = 90
self._current_tilt_angle = 0
def __init__(self, debug=_DEBUG, bus_number = 1, pan_channel = CAMERA_PAN_CHANNEL, tilt_channel = CAMERA_TILT_CHANNEL):
self._pan_channel = pan_channel
self._tilt_channel = tilt_channel
self._straight_tilt_angle = 90
self._straight_pan_angle = 90
self.panning_max = 45
self.tilting_max = 45
self._turning_offset = 0
#Objects for controlling tilt and pan Servo motors
self.pan = Servo.Servo(self._pan_channel, bus_number = bus_number, offset = 0)
self.tilt = Servo.Servo(self._tilt_channel, bus_number = bus_number, offset = 0)
self.debug = debug
if self._DEBUG:
print("{} Camera Pan PWM channel: {}".format(self._DEBUG_INFO, self._pan_channel))
print("{} Camera Tilt PWN channel: {}".format(self._DEBUG_INFO, self._tilt_channel))
print("{} Camera Pan offset value: {}".format(self._DEBUG_INFO, self.turning_offset))
if self._DEBUG:
print("{} \n\tLeft pan angle: {}\n \tStraight pan angle: {}\n \tRight pan angle: {}".format(self._DEBUG_INFO, self._pan_angle["left"], self._pan_angle["straight"], self._pan_angle["right"]))
print("{} \n\tDown tilt angle: {}\n \tFlat tilt angle: {}\n \tUp tilt angle: {}".format(self._DEBUG_INFO, self._tilt_angle["down"], self._tilt_angle["flat"], self._tilt_angle["up"]))
class MyController(Controller):
picar.setup()
bw = back_wheels.Back_Wheels()
fw = front_wheels.Front_Wheels()
pan_servo = Servo.Servo(1)
bw.speed = 0
motor_speed = 60
cap = cv2.VideoCapture(0)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
def on_x_press(self):
_,img = self.cap.read()
cv2.imwrite('Documents\\'+ str(time.time())+ '.png',img)
print("picture taken")
def on_L3_up(self, value):
speed = int((value/400)*-1)
print("forward:" + str(speed))
self.bw.speed = speed
self.bw.backward()
def on_L3_down(self, value):
speed = int(value/400)
print("backward:" + str(speed))
self.bw.speed = speed
self.bw.forward()
def on_L3_left(self, value):
print("value1:" + str(value))
angleL = int((75-(-25/32767) * value))
print("angle1:" + str(angleL))
self.fw.turn(angleL)
def on_L3_right(self, value):
print("value2:" + str(value))
angleR = int(((60/32767) * value + 75))
print("angle2: " + str(angleR))
self.fw.turn(angleR)
# What model to download.
MODEL_NAME = 'ssd_mobilenet_v1_coco_11_06_2017'
MODEL_FILE = MODEL_NAME + '.tar.gz'
DOWNLOAD_BASE = 'http://download.tensorflow.org/models/object_detection/'
# Path to frozen detection graph. This is the actual model that is used for the object detection.
PATH_TO_CKPT = MODEL_NAME + '/frozen_inference_graph.pb'
# List of the strings that is used to add correct label for each box.
PATH_TO_LABELS = os.path.join('data', 'mscoco_label_map.pbtxt')
NUM_CLASSES = 90
bw = back_wheels.Back_Wheels()
fw = front_wheels.Front_Wheels()
pan_servo = Servo.Servo(1)
tilt_servo = Servo.Servo(2)
picar.setup()
fw.offset = 0
# pan_servo.offset = 10
pan_servo.offset = 0
tilt_servo.offset = 0
bw.speed = 0
# fw.turn(90)
# pan_servo.write(90)
# tilt_servo.write(90)
# ## Download Model
from picar import front_wheels, back_wheels
from picar.SunFounder_PCA9685 import Servo
import picar
from time import sleep
import cv2
import numpy as np
import picar
import os
fw = front_wheels.Front_Wheels()
pan_servo = Servo.Servo(1)
num1 = 0
picar.setup()
fw.offset = 0
pan_servo.offset = 0
while num1 < 190:
num1 = int(input())
fw.turn(num1)
pan_servo.write(0)
def get_front_wheel():
channel = 0
bus_number = 1
return Servo.Servo(channel, bus_number=bus_number, offset=0)
#Modified code from here: https://github.com/sunfounder/SunFounder_PiCar-V/blob/master/ball_track/ball_tracker.py
#Created by Kepler Electronics, https://www.youtube.com/keplerelectronics
from picar import front_wheels, back_wheels
from picar.SunFounder_PCA9685 import Servo
import picar
import time
from time import sleep
import numpy as np
import picar #a second time?
import os
from evdev import InputDevice, categorize, ecodes
gamepad = InputDevice('/dev/input/event0')
print(gamepad)
turnServo = Servo.Servo(0)
picar.setup()
bw = picar.back_wheels.Back_Wheels()
speedup = 0
bw.forward()
bw.speed = 50
time.sleep(5)
bw.stop()
for event in gamepad.read_loop():
print(event.code)
if event.type == ecodes.EV_ABS:
if event.code == 0:
if event.value == 0:
turnServo.write(60)
print("Left")
#explorerhat.motor.one.forwards(event.value-155)
elif event.value == 2:
pub.publish(data)
rate.sleep()
if __name__ == "__main__":
picar.setup()
db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config"
fw = front_wheels.Front_Wheels(debug=False, db=db_file)
bw = back_wheels.Back_Wheels(debug=False, db=db_file)
cam = Camera(debug=False, db=db_file)
cam.ready()
bw.ready()
fw.ready()
bCamTuneOffset = -11
bCam = Servo.Servo(15, bus_number=1, offset=bCamTuneOffset)
#bCam.setup()
frontCam(5.0, 0.0)
global fwOffset, bwStatus, bCanIOffset
global tsT, tvT, tf1T, tf2T, tbT #Target
global tsC, tvC, tf1C, tf2C, tbC #Current
global tsR, tvR, tf1R, tf2R, tbR #Max Rate
global tsG, tvG, tf1G, tf2G, tbG #Gain
global commandHistory, maxHistory
tsT = 0
tvT = 0
tf1T = 0
tf2T = 0
def __init__(self, pin):
self.srv = Servo.Servo(pin)
self.srv.setup()
CAMERA_Y_ANGLE = 20
MIDDLE_TOLERANT = 5
PAN_ANGLE_MAX = 170
PAN_ANGLE_MIN = 10
TILT_ANGLE_MAX = 150
TILT_ANGLE_MIN = 70
FW_ANGLE_MAX = 90+30
FW_ANGLE_MIN = 90-30
SCAN_POS = [[20, TILT_ANGLE_MIN], [50, TILT_ANGLE_MIN], [90, TILT_ANGLE_MIN], [130, TILT_ANGLE_MIN], [160, TILT_ANGLE_MIN],
[160, 80], [130, 80], [90, 80], [50, 80], [20, 80]]
bw = back_wheels.Back_Wheels()
fw = front_wheels.Front_Wheels()
pan_servo = Servo.Servo(1, bus_number=1)
tilt_servo = Servo.Servo(2, bus_number=1)
picar.setup()
fw.offset = 0
pan_servo.offset = 10
tilt_servo.offset = 0
bw.speed = 0
fw.turn(90)
pan_servo.write(90)
tilt_servo.write(90)
motor_speed = 60
