import cv2
import numpy as np
from tensorflow.keras.models import load_model
import WebcamModule as wM
import MotorModule as mM
#######################################
steeringSen = 0.70 # Steering Sensitivity
maxThrottle = 0.22 # Forward Speed %
motor = mM.Motor(2, 3, 4, 17, 22, 27) # Pin Numbers
model = load_model('/home/pi/Desktop/My Files/RpiRobot/model_V1.h5')
######################################
def preProcess(img):
img = img[54:120, :, :]
img = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
img = cv2.GaussianBlur(img, (3, 3), 0)
img = cv2.resize(img, (200, 66))
img = img / 255
return img
while True:
img = wM.getImg(True, size=[240, 120])
img = np.asarray(img)
img = preProcess(img)
img = np.array([img])
steering = float(model.predict(img))
import WebcamModule as wM
import DataCollectionModule as dcM
import JoyStickModule as jsM
import MotorModule as mM
import cv2
from time import sleep
maxThrottle = 0.25
motor = mM.Motor(2, 3, 4, 17, 22, 27)
record = 0
while True:
joyVal = jsM.getJS()
#print(joyVal)
steering = joyVal['axis1']
throttle = joyVal['o']*maxThrottle
if joyVal['share'] == 1:
if record ==0: print('Recording Started ...')
record +=1
sleep(0.300)
if record == 1:
img = wM.getImg(True,size=[240,120])
dcM.saveData(img,steering)
elif record == 2:
dcM.saveLog()
record = 0
motor.move(throttle,-steering)
cv2.waitKey(1)
import cv2
import os
import numpy as np
import CameraModule as cm
import MotorModule as mt
from TfLiteInterpreter import Interpreter
#### Configuration ####################################
steering_sensitivity = 1.9
max_throttle = 0.35
motor = mt.Motor(18, 11, 13, 15, 16, 22)
tflite_modelpath = 'model_v1.tflite'
#######################################################
def preprocess(img):
img = img[174:,:,:]
img = cv2.cvtColor(img, cv2.COLOR_BGR2YUV)
img = cv2.GaussianBlur(img, (3,3), 0)
img = cv2.resize(img, (200, 66))
img = img / 255
return img
try:
interpreter = Interpreter(tflite_modelpath)
while True:
img = cm.get_img(False, size=[480,240])
img = preprocess(img)
img = np.array([img], dtype=np.float32)