def interactiveControl():
setupInteractiveControl()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = (WIDTH, HEIGHT)
camera.start_preview(fullscreen=False,
window=(500, 50, CP_WIDTH, CP_HEIGHT))
command = 'idle'
while (True):
up_key, down, left, right, change, stop = getKeys()
getDistance()
if stop:
break
if change:
command = 'idle'
if up_key:
command = 'forward'
forward(FB_TIME)
elif down:
command = 'reverse'
reverse(FB_TIME)
elif left:
command = 'left'
lef(LR_TIME)
elif right:
command = 'right'
righ(LR_TIME)
print(command)
if (command in ('forward', 'right', 'left')):
input_img = save_image_with_direction(command)
camera.capture(input_img, use_video_port=True)
clock.tick(10)
pygame.quit()
def main(): wm=wimote.connect(Led) while True: button=wimote.whichbutton(wm) time.sleep(0.05) wm.rumble=False #Moving Forwards if button==3: distance_front = usonic.reading(Trigger_front,Echo_front) print distance_front if distance_front < Collision: wm.rumble=True #led.off(Led) motor.stop() elif distance_front >= Collision: #led.on(Led) motor.forward() #Reverse if button==4: motor.reverse() if button==7: motor.cleanup() led.cleanup() usonic.cleanup() sys.exit() if button==None: led.off(Led) motor.stop()
def func_sensor(t, hu, p, counter, max_num, move_time, stabilizer,
current_rotate_position, rotate_time, temp_threshold,
pressure_threshold, humid_threshold):
# bool to ensure only one time mvement each time we run this function
unmove = True
if t > temp_threshold and counter < max_num and unmove:
current_rotate_position = angle_fix(current_rotate_position,
rotate_time)
reverse(
move_time
) # set move_time manually here to control the time of operation
counter = counter + 1
unmove = False
elif hu > humid_threshold and counter < max_num and stabilizer and unmove:
current_rotate_position = angle_fix(current_rotate_position,
rotate_time)
reverse(
move_time
) # set x move_time manually here to control the time of operation
counter = counter + 1
stabilizer = False
unmove = False
elif hu > 140 and counter < max_num and unmove: # humidity toward dangerous level,backward without waiting
current_rotate_position = angle_fix(current_rotate_position,
rotate_time)
reverse(
move_time
) # set x move_time manually here to control the time of operation
counter = counter + 1
stabilizer = False
unmove = False
elif p > pressure_threshold and counter < max_num and unmove:
current_rotate_position = angle_fix(current_rotate_position,
rotate_time)
reverse(
move_time
) # set move_time manually here to control the time of operation
counter = counter + 1
unmove = False
else:
pass
return stabilizer, counter, current_rotate_position
def reverse():
motor.reverse(1)
def reverse(): motor.reverse(1)
#!/usr/bin/python
#coding: utf8
import motor
import define
import time
if __name__ == '__main__':
motor = MoterClass()
motor.forward()
sleep(3)
motor.reverse()
sleep(3)
motor.left()
sleep(3)
motor.right()
sleep(3)
motor.stop()
sleep(3)
def interactiveControl():
setupInteractiveControl()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = (HEIGHT, WIDTH)
camera.start_preview(fullscreen=False,
window=(200, 0, CP_WIDTH, CP_HEIGHT))
command = 'idle'
start_time = time.time()
now = 0
while (now <= TRAIN_TIME):
now = time.time() - start_time
desired_target = np.array([[1, 0, 0]])
input_img = np.empty((WIDTH, HEIGHT, 3), dtype=np.uint8)
camera.capture(input_img, 'bgr', use_video_port=True)
input_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2GRAY)
input_img = input_img.reshape([-1, WIDTH, HEIGHT, CHANNEL])
up_key, down, left, right, change, stop = getKeys()
getDistance()
if stop:
break
if change:
command = 'idle'
if up_key:
command = 'forward'
desired_target = np.array([[1, 0, 0]])
t1 = Thread(target=forward, args=(FB_TIME, ))
t1.start()
model.fit(x=input_img,
y=desired_target,
epochs=1,
verbose=0)
t1.join()
elif down:
command = 'reverse'
reverse(FB_TIME)
append = lambda x: command + '_' + x if command != 'idle' else x
if left:
command = append('left')
desired_target = np.array([[0, 0, 1]])
t2 = Thread(target=lef, args=(LR_TIME, ))
t2.start()
model.fit(x=input_img,
y=desired_target,
epochs=1,
verbose=0)
t2.join()
elif right:
command = append('right')
desired_target = np.array([[0, 1, 0]])
t3 = Thread(target=righ, args=(LR_TIME, ))
t3.start()
model.fit(x=input_img,
y=desired_target,
epochs=1,
verbose=0)
t3.join()
print(command)
print('Time left : ', (TRAIN_TIME - now), ' s')
clock.tick(0)
pygame.quit()
for i in range(hats):
hat = joystick.get_hat(i)
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)))
textPrint.unindent()
textPrint.unindent()
if joystick.get_axis(4) > float(0) and joystick.get_axis(5) > float(0):
pass
elif joystick.get_axis(4) > float(0):
motor.forward(1 / 4)
elif joystick.get_axis(5) > float(0):
motor.reverse(1 / 4)
if joystick.get_button(3) == 1:
done = True
# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(20)
# Close the window and quit.
# If you forget this line, the program will 'hang'
# on exit if running from IDLE.
