def __init__(self, *args, **kwargs):
# Create camera and start stream
self.cam = cam.CameraStream().start()
# Create user interface
self.userinterface = gui.UserInterface(self)
# Add RUN function to button 1 to start Scan
self.start_page = self.userinterface.frames[
self.userinterface.StartPage]
self.start_page.add_function_to_button1(self.run)
self.shot_frame = [[] for x in range(200)]
# Create Stepper and add function to button 4
self.stepper = step.Stepper("/dev/ttyACM0")
self.start_page.add_function_to_button4(self.stepper.moveBack)
self.stepper_set = 0
self.start_page.add_function_to_button2(self.stepper.moveStep)
# Create image processor
self.img_proc = ImageProcessor()
# Get args.
args = docopt(__doc__)
# Check the mode: recording vs TF driving vs TF driving + recording.
if args['record']:
we_are_autonomous = False
we_are_recording = True
print("\n------ Ready to record training data ------\n")
elif args['tf']:
we_are_autonomous = True
we_are_recording = True
print("\n****** READY TO DRIVE BY NEURAL NET and record data ******\n")
# Set up camera and key watcher.
camera_stream = camera.CameraStream(src=config.camera_id).start()
last_key = ['']
key_watcher.KeyWatcher(last_key).start()
# Setup buffers and vars used by arduinos.
buffer_in = ''
buffer_out = ''
milliseconds = 0.0
last_odometer_reset = 0
odometer_ticks = 0
button_arduino_out = 0
button_arduino_in = 0
def setup_serial_and_reset_arduinos():
# This will set up the serial ports. If they are already set up, it will