def main():
#parse command line arguments
parser = argparse.ArgumentParser(description='Initialize autoturret.')
parser.add_argument('target_class',
type=str,
help='Pick a target class from the list')
#parser.add_argument('pin_file', type=str, help='file path to file containing pin info')
parser.add_argument(
'--fire',
action='store_true',
default=False,
help='just track target instead of automatically firing',
dest='fire')
parser.add_argument('--showStream',
action='store_true',
default=False,
help="if you want to see it work.q")
results = parser.parse_args()
USER_TARGET = results.target_class
PIN_FILEPATH = 'pin_loc.txt' #results.pin_file
FIRE = results.fire
SHOW_STREAM = results.showStream
ACTIVE = True
#import from file global constant pin locations
pin_dict = Utils.parse_pinfile(PIN_FILEPATH)
#initialize drivers
print('Initializing Drivers....')
m1 = Drivers.Motor1(pin_dict['M1A1'], pin_dict['M1A2'], pin_dict['M1B1'],
pin_dict['M1B2'])
m2 = Drivers.Motor2(enable=pin_dict['en2'],
direction=pin_dict['dirpin2'],
pulse=pin_dict['pul2'])
launcher = Drivers.Launcher(pin_dict['WaterPin'], pin_dict['AirPin'], 1,
.4)
#initialize interface
print("Setting up interface...")
control = Interface.CannonControl(m1, m2, launcher)
# import the correct version of tensorflow based on whats installed and define and interpreter
# from on the .tflite file
if importlib.util.find_spec('tflite_runtime'):
import tflite_runtime.interpreter as tflite
interpreter = tflite.Interpreter(model_path='model/detect.tflite')
else:
import tensorflow as tf
interpreter = tf.lite.Interpreter(model_path='model/detect.tflite')
interpreter.allocate_tensors()
#load labels
with open('model/labelmap.txt', 'r') as f:
labels = [line.strip() for line in f.readlines()]
#initialize detection model
print("Starting detection model...")
model = Detection.TargetStream(USER_TARGET, interpreter)
model.start()
time.sleep(2)
print("Model ready...")
#define autotarget functionality
#toss that in a loop. consiter using threads
while ACTIVE:
if SHOW_STREAM:
model.show_frame()
if model.object_detected:
location = model.target_location
h, v, dist = Utils.auto_target((location))
Utils.move(h, v, dist, control, 3)
time.sleep(1)
