def __init__(self):
Car.__init__(self)
self.getType()
self.getEngineType()
self.lidar = self.getDevice("lidar")
self.lidar.enable(5000)
self.lidar.enablePointCloud()
print(self.lidar.isPointCloudEnabled())
self.keyboard.enable(10)
self.speed = 0
print("^" * 10)
def __init__(self):
Car.__init__(self)
self.saveStep = 0
self.steeringAngle = 0.0
self.velocity = cfg.param.velocity
self.controlTime = cfg.robot.time
self.basicTime = self.getBasicTimeStep()
print("#" * 40)
print("This is auto-Vehicle!")
print("Here are my Info: ")
print("My Synchronization: ", self.getSynchronization())
print("My Basic Time Step: ", self.getBasicTimeStep())
print("My Control Time Step: ", self.controlTime)
print("#" * 40)
print("Here are my Device Info: ")
print("#" * 40)
print("Lidar Enabled: ", cfg.lidar.isEnable)
if cfg.lidar.isEnable:
self.lidar = self.getDevice("lidar")
self.lidar.enable(cfg.lidar.samplingPeriod)
self.lidar.enablePointCloud()
self.lidar.setFrequency(cfg.lidar.frequency)
print("Sampling Period: ", self.lidar.getSamplingPeriod())
print("Rotation Frequency: ", self.lidar.getFrequency())
print("#" * 40)
print("GPS Enabled: ", cfg.gps.isEnable)
if cfg.gps.isEnable:
self.gps = self.getDevice("gps")
self.gps.enable(cfg.gps.samplingPeriod)
print("Sampling Period: ", self.gps.getSamplingPeriod())
print("#" * 40)
print("Camera Enabled: ", cfg.camera.isEnable)
if cfg.camera.isEnable:
self.firstCall = True
self.filterSize = 3
self.cameraChannel = 3
self.oldCameraValue = [0, 0, 0]
self.camera = self.getDevice("camera")
self.camera.enable(cfg.camera.samplingPeriod)
self.cameraImgWidth = self.camera.getWidth()
self.cameraImgHeight = self.camera.getHeight()
self.cameraImgFov = self.camera.getFov()
print("Sampling Period: ", self.camera.getSamplingPeriod())
print("Image Width: ", self.cameraImgWidth)
print("Image Height: ", self.cameraImgHeight)
print("#" * 40)
print("Sick Enabled: ", cfg.sick.isEnable)
if cfg.sick.isEnable:
self.HALFAREA = 20
self.sick = self.getDevice("Sick LMS 291")
self.sick.enable(cfg.sick.samplingPeriod)
self.sickWidth = self.sick.getHorizontalResolution()
self.sickRange = self.sick.getMaxRange()
self.sickFov = self.sick.getFov()
print("Sampling Period: ", self.sick.getSamplingPeriod())
print("Sick Width: ", self.sickWidth)
print("Sick Range: ", self.sickRange)
print("Sick Fov: ", self.sickFov)
print("#" * 40)
print("PID Enabled: ", cfg.pid.isEnable)
if cfg.pid.isEnable:
self.needResetPID = False
self.oldPIDValue = 0.0
self.integral = 0.0
print("KP: ", cfg.pid.KP)
print("KI: ", cfg.pid.KI)
print("KD: ", cfg.pid.KD)
print("#" * 40)
self.setHazardFlashers(True)
self.setDippedBeams(True)
self.setAntifogLights(True)
self.setWiperMode(False)
self.setCruisingSpeed(self.velocity)