def get_num_lines():
# based on rpi distance sensor
dist = ultrasonic.get_distance()
dist = clamp_distance(dist)
return dist
def on_message(client, userdata, msg):
if msg.topic == 'joystick/left_right':
lr_val = float(msg.payload.decode())
if lr_val > 0.15:
print('Go right : ', lr_val)
motl.forward(speed=lr_val)
motr.backward(speed=lr_val)
elif lr_val < -0.15:
print('Go left : ', -lr_val)
motl.backward(speed=-lr_val)
motr.forward(speed=-lr_val)
if msg.topic == 'joystick/forward_reverse':
fwrev_val = float(msg.payload.decode())
if fwrev_val > 0.15:
if us.get_distance() < 50:
print('[STOP] Obstacle detected')
motl.stop()
motr.stop()
return
else:
print('Go back : ', fwrev_val)
motl.backward(speed=fwrev_val)
motr.backward(speed=fwrev_val)
elif fwrev_val < -0.15:
print('Go forward : ', -fwrev_val)
motl.forward(speed=-fwrev_val)
motr.forward(speed=-fwrev_val)
if msg.topic == 'joystick/stop':
print('Motor Stop')
motl.stop()
motr.stop()
def set_range(samples=3):
total = 0
count = 0
while (count < samples):
range = US.get_distance()
total = total + range
count = count + 1
avg = total / samples
print "Range set to %.2f" % avg
return avg
import json
from ultrasonic import get_distance
from rc_car import move_left, move_right, move_forward
from camera import capture
from reward import get_reward
from server import init_params, get_action
import time
r_init = init_params([30 * 30], 3)
for i in range(0):
st = time.time()
distance = 401
while distance >= 400 and distance <= 3000:
distance = get_distance()
reward = get_reward(distance, 60)
print(distance, reward)
terminate = False
if distance < 60:
terminate = True
state = capture()
print(state.shape)
action = get_action(state.tolist(), reward, terminate)
print(action)
duration = 0.5
if distance > 60:
if action == 0:
lr_pos = lr_pos_r
fwrev_pos = fwrev_pos_r
lr_pos_r = 0
fwrev_pos_r = 0
time.sleep(0.1)
if lr_pos == 0 and fwrev_pos < 0: #forward
motl.forward(speed=-fwrev_pos)
motr.forward(speed=-fwrev_pos)
l_stop_val = -fwrev_pos
r_stop_val = -fwrev_pos
print('Forward : ', -fwrev_pos)
elif lr_pos == 0 and fwrev_pos > 0: #reverse
if us.get_distance() < 50:
print('[STOP] Obstacle detected')
motor_stop()
else:
print('Reverse : ', fwrev_pos)
motl.backward(speed=fwrev_pos)
motr.backward(speed=fwrev_pos)
l_stop_val = fwrev_pos
r_stop_val = fwrev_pos
elif lr_pos < 0 and fwrev_pos == 0: #left
motl.backward(-lr_pos)
motr.forward(-lr_pos)
l_stop_val = -lr_pos
import RPi.GPIO as GPIO import time import ultrasonic as US GPIO.setmode(GPIO.BOARD) US.setup(16, 11) distance = US.get_distance() print "Distance (cm): %.1f" % distance GPIO.cleanup()
from gpiozero import Motor
import ultrasonic as us
while True:
print(us.get_distance())
def is_in_range():
current_range = US.get_distance()
return (current_range < max_range)