def car_drive(): global is_capture_running, key key = 4 pygame.init() pygame.display.set_mode((1, 1)) car_control.car_stop() while is_capture_running: # 获取人输入的驾驶指令 events = pygame.event.get() for evt in events: if evt.type == pygame.KEYDOWN: key_input = pygame.key.get_pressed() print(key_input[pygame.K_w], key_input[pygame.K_a], key_input[pygame.K_d]) if key_input[pygame.K_w] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print('Forward') key = 2 car_control.car_move_forward() elif key_input[pygame.K_a]: print('Left') car_control.car_turn_left() sleep(0.1) key = 0 elif key_input[pygame.K_d]: print('Right') car_control.car_turn_right() sleep(0.1) key = 1 elif key_input[pygame.K_s]: print('Backward') car_control.car_move_backward() sleep(0.1) key = 3 elif key_input[pygame.K_q] or key_input[pygame.K_e]: print("Barricade") car_control.car_stop() key = 5 elif evt.type == pygame.KEYUP: key_input = pygame.key.get_pressed() if key_input[pygame.K_w] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print('Forward') key = 2 car_control.car_turn_straight() car_control.car_move_forward() elif key_input[pygame.K_s] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print('Backward') key = 3 car_control.car_move_backward() else: print('Stop') car_control.car_stop() # car_control.clean_GPIO() car_control.clean_GPIO()
def my_car_control(): global is_capture_running, key key = 4 pygame.init() pygame.display.set_mode((1, 1)) car_control.car_stop() sleep(0.1) print("Start control!") while is_capture_running: # get input from human driver for event in pygame.event.get(): if event.type == pygame.KEYDOWN: key_input = pygame.key.get_pressed() print(key_input[pygame.K_w], key_input[pygame.K_a], key_input[pygame.K_d]) if key_input[pygame.K_w] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print("Forward") key = 2 car_control.car_move_forward() elif key_input[pygame.K_a]: print("Left") car_control.car_turn_left() sleep(0.1) key = 0 elif key_input[pygame.K_d]: print("Right") car_control.car_turn_right() sleep(0.1) key = 1 elif key_input[pygame.K_s]: print("Backward") car_control.car_move_backward() key = 3 elif key_input[pygame.K_k]: car_control.car_stop() elif event.type == pygame.KEYUP: key_input = pygame.key.get_pressed() if key_input[pygame.K_w] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print("Forward") key = 2 car_control.car_turn_straight() car_control.car_move_forward() elif key_input[pygame.K_s] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print("Backward") key = 3 car_control.car_move_backward() else: print("Stop") car_control.car_stop() #car_control.cleanGPIO() car_control.cleanGPIO()
def control_car(action_num): """out put the char and call car_control(we used before)""" if action_num == 0: print("Left") car_control.car_turn_left() time.sleep(0.25) elif action_num == 1: print("Right") car_control.car_turn_right() time.sleep(0.25) elif action_num == 2: car_control.car_move_forward() print('Forward') elif action_num == 3: car_control.car_move_backward() print('Backward') else: car_control.car_stop() print('Stop')
def car_drive(action_num): if action_num = 0: print("Left") car_control.car_turn_left() time.sleep(0.25)
def my_car_control(): global is_capture_running, key key = 4 pygame.init() pygame.display.set_mode((1, 1)) # 窗口 zth_car_control.car_stop() sleep(0.1) print("Start control!") angle = 90 while is_capture_running: # get input from human driver for event in pygame.event.get(): # 判断事件是不是按键按下的事件 if event.type == pygame.KEYDOWN: key_input = pygame.key.get_pressed() # 可以同时检测多个按键 print(key_input[pygame.K_w], key_input[pygame.K_a], key_input[pygame.K_d]) # 按下前进,保存图片以2开头 if key_input[pygame.K_w] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print("Forward") key = 2 zth_car_control.car_move_forward() # 按下左键,保存图片以0开头 elif key_input[pygame.K_a]: print("Left") angle = angle - 5 zth_car_control.car_turn_left(angle) sleep(0.1) key = 0 # 按下d右键,保存图片以1开头 elif key_input[pygame.K_d]: print("Right") angle = angle + 5 zth_car_control.car_turn_right(angle) sleep(0.1) key = 1 # 按下s后退键,保存图片为3开头 elif key_input[pygame.K_s]: print("Backward") zth_car_control.car_move_backward() key = 3 # 按下k停止键,停止 elif key_input[pygame.K_k]: zth_car_control.car_stop() # 检测按键是不是抬起 elif event.type == pygame.KEYUP: key_input = pygame.key.get_pressed() # w键抬起,轮子回正 #if key_input[pygame.K_w] and not key_input[pygame.K_a] and not key_input[pygame.K_d]: # print("Forward") # key = 2 # zth_car_control.car_turn_straight() #zth_car_control.car_move_forward() # s键抬起 if key_input[pygame.K_s] and not key_input[ pygame.K_a] and not key_input[pygame.K_d]: print("Backward") key = 3 zth_car_control.car_move_backward() else: print("Stop") zth_car_control.car_stop() #car_control.cleanGPIO() zth_car_control.clean_GPIO()