def PressKeyPWM(val):
time_down = (512 - val) / 512
if np.abs(val) > 512 + 5 and time_down < 0.0:
print("right")
look_left(np.abs(time_down))
elif np.abs(val) < 512 - 5 and time_down > 0.0:
print("left")
look_right(np.abs(time_down))
else:
print("None")
ultimate_release()
def main():
'''
with the z axis, your %s are out of 32,786
with the x and y, your %s are out of 16393
...so left = 16393 - (some % of 16393) ... right = 16393 + (some % of 16393)
'''
################
XYRANGE = 16393
ZRANGE = 32786
wAxisX = 16393
wAxisY = 16393
wAxisZ = 0
wAxisXRot = 16393
wAxisYRot = 16393
wAxisZRot = 0
last_time = time.time()
for i in list(range(4))[::-1]:
print(i + 1)
time.sleep(1)
#how_long_since_move = 0
paused = False
mode_choice = 0
screen = grab_screen(region=(0, 40, GAME_WIDTH, GAME_HEIGHT + 40))
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
prev = cv2.resize(screen, (160, 90))
t_minus = prev
t_now = prev
t_plus = prev
while (True):
if not paused:
screen = grab_screen(region=(0, 40, GAME_WIDTH, GAME_HEIGHT + 40))
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
last_time = time.time()
screen = cv2.resize(screen, (160, 90))
delta_view = delta_images(t_minus, t_now, t_plus)
retval, delta_view = cv2.threshold(delta_view, 16, 255, 3)
cv2.normalize(delta_view, delta_view, 0, 255, cv2.NORM_MINMAX)
img_count_view = cv2.cvtColor(delta_view, cv2.COLOR_RGB2GRAY)
delta_count = cv2.countNonZero(img_count_view)
dst = cv2.addWeighted(screen, 1.0, delta_view, 0.6, 0)
now = time.time()
delta_count_last = delta_count
t_minus = t_now
t_now = t_plus
t_plus = screen
t_plus = cv2.blur(t_plus, (4, 4))
o_prediction = model.predict([screen.reshape(160, 90, 3)])[0]
# w s a d wa wd sa sd nk
prediction = np.array(o_prediction) * np.array(
[4.5, 0.1, 0.1, 0.1, 1.8, 1.8, 0.5, 0.5, 0.2])
## w s a d wa wd sa sd nk
joy_choices = np.array(o_prediction) * np.array(
[4.5, 2.0, 1.0, 1.0, 1.8, 1.8, 1.0, 1.0, 1.0])
# could in theory be a negative.
# w s sa sd nk
throttle = joy_choices[0] - joy_choices[1] - joy_choices[
6] - joy_choices[7] - joy_choices[8]
# - is left.. .+ is right. (16393 + (-/+ up to 16393))
# a wa sa d wd sd
turn = (-1 * joy_choices[2]) + (-1 * joy_choices[4]) + (
-1 * joy_choices[6]
) + joy_choices[3] + joy_choices[5] + joy_choices[7]
if throttle < -1: throttle = -1
elif throttle > 1: throttle = 1
if turn < -1: turn = -1
elif turn > 1: turn = 1
motion_log.append(delta_count)
motion_avg = round(mean(motion_log), 3)
fps = 1 / round(time.time() - last_time, 3)
if throttle > 0:
vj.open()
joystickPosition = vj.generateJoystickPosition(
wAxisZ=int(ZRANGE * throttle),
wAxisX=int(XYRANGE + (turn * XYRANGE)))
vj.update(joystickPosition)
time.sleep(0.001)
vj.close()
print(
'FPS {}. Motion: {}. ThumbXaxis: {}. Throttle: {}. Brake: {}'
.format(fps, motion_avg, int(XYRANGE + (turn * XYRANGE)),
int(ZRANGE * throttle), 0))
else:
vj.open()
joystickPosition = vj.generateJoystickPosition(
wAxisZRot=int(-1 * (ZRANGE * throttle)),
wAxisX=int(XYRANGE + (turn * XYRANGE)))
vj.update(joystickPosition)
time.sleep(0.001)
vj.close()
print(
'FPS {}. Motion: {}. ThumbXaxis: {}. Throttle: {}. Brake: {}'
.format(fps, motion_avg, int(XYRANGE + (turn * XYRANGE)),
0, int(-1 * (ZRANGE * throttle))))
mode_choice = np.argmax(prediction)
if motion_avg < motion_req and len(motion_log) >= log_len:
print(
'WERE PROBABLY STUCK FFS, initiating some evasive maneuvers.'
)
# 0 = reverse straight, turn left out
# 1 = reverse straight, turn right out
# 2 = reverse left, turn right out
# 3 = reverse right, turn left out
quick_choice = random.randrange(0, 4)
if quick_choice == 0:
reverse()
time.sleep(random.uniform(1, 2))
forward_left()
time.sleep(random.uniform(1, 2))
elif quick_choice == 1:
reverse()
time.sleep(random.uniform(1, 2))
forward_right()
time.sleep(random.uniform(1, 2))
elif quick_choice == 2:
reverse_left()
time.sleep(random.uniform(1, 2))
forward_right()
time.sleep(random.uniform(1, 2))
elif quick_choice == 3:
reverse_right()
time.sleep(random.uniform(1, 2))
forward_left()
time.sleep(random.uniform(1, 2))
for i in range(log_len - 2):
del motion_log[0]
keys = key_check()
# p pauses game and can get annoying.
if 'T' in keys:
ultimate_release()
if paused:
paused = False
time.sleep(1)
else:
paused = True
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
time.sleep(1)
"""
vj = vJoy()
x_range = 16393
z_range = 32786
wAxisX = 16393
wAxisY = 16393
wAxisZ = 0
wAxisXRot = 16393
wAxisYRot = 16393
wAxisZRot = 0
keys = key_check()
ultimate_release()
while True:
vj.open()
btn = 1
joystickPosition = vj.generateJoystickPosition(wAxisX=12000, wAxisZ=32000, wAxisZRot=0)
vj.update(joystickPosition)
print("running")
time.sleep(0.1)
vj.sendButtons(0)
keys = key_check()
if 'P' in keys:
joystickPosition = vj.generateJoystickPosition(wAxisX=16000, wAxisY=16000)
vj.update(joystickPosition)
vj.sendButtons(0)
def main():
'''
with the z axis, your %s are out of 32,786
with the x and y, your %s are out of 16393
...so left = 16393 - (some % of 16393) ... right = 16393 + (some % of 16393)
'''
################
XYRANGE = 16393
ZRANGE = 32786
wAxisX = 16393
wAxisY = 16393
wAxisZ = 0
wAxisXRot = 16393
wAxisYRot = 16393
wAxisZRot = 0
last_time = time.time()
for i in list(range(4))[::-1]:
print(i+1)
time.sleep(1)
#how_long_since_move = 0
paused = False
mode_choice = 0
screen = grab_screen(region=(0,40,GAME_WIDTH,GAME_HEIGHT+40))
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
prev = cv2.resize(screen, (160,90))
t_minus = prev
t_now = prev
t_plus = prev
while(True):
if not paused:
screen = grab_screen(region=(0,40,GAME_WIDTH,GAME_HEIGHT+40))
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
last_time = time.time()
screen = cv2.resize(screen, (160,90))
delta_view = delta_images(t_minus, t_now, t_plus)
retval, delta_view = cv2.threshold(delta_view, 16, 255, 3)
cv2.normalize(delta_view, delta_view, 0, 255, cv2.NORM_MINMAX)
img_count_view = cv2.cvtColor(delta_view, cv2.COLOR_RGB2GRAY)
delta_count = cv2.countNonZero(img_count_view)
dst = cv2.addWeighted(screen,1.0, delta_view,0.6,0)
now=time.time()
delta_count_last = delta_count
t_minus = t_now
t_now = t_plus
t_plus = screen
t_plus = cv2.blur(t_plus,(4,4))
o_prediction = model.predict([screen.reshape(160,90,3)])[0]
# w s a d wa wd sa sd nk
prediction = np.array(o_prediction) * np.array([4.5, 0.1, 0.1, 0.1, 1.8, 1.8, 0.5, 0.5, 0.2])
## w s a d wa wd sa sd nk
joy_choices = np.array(o_prediction) * np.array([4.5, 2.0, 1.0, 1.0, 1.8, 1.8, 1.0, 1.0, 1.0])
# could in theory be a negative.
# w s sa sd nk
throttle = joy_choices[0] - joy_choices[1] - joy_choices[6] - joy_choices[7] - joy_choices[8]
# - is left.. .+ is right. (16393 + (-/+ up to 16393))
# a wa sa d wd sd
turn = (-1*joy_choices[2]) +(-1*joy_choices[4]) +(-1*joy_choices[6]) + joy_choices[3] + joy_choices[5] + joy_choices[7]
if throttle < -1 : throttle = -1
elif throttle > 1 : throttle = 1
if turn < -1 : turn = -1
elif turn > 1 : turn = 1
motion_log.append(delta_count)
motion_avg = round(mean(motion_log),3)
fps = 1 / round(time.time()-last_time, 3)
if throttle > 0:
vj.open()
joystickPosition = vj.generateJoystickPosition(wAxisZ=int(ZRANGE*throttle),wAxisX=int(XYRANGE + (turn*XYRANGE)))
vj.update(joystickPosition)
time.sleep(0.001)
vj.close()
print('FPS {}. Motion: {}. ThumbXaxis: {}. Throttle: {}. Brake: {}'.format(fps , motion_avg, int(XYRANGE + (turn*XYRANGE)), int(ZRANGE*throttle),0))
else:
vj.open()
joystickPosition = vj.generateJoystickPosition(wAxisZRot=int(-1*(ZRANGE*throttle)),wAxisX=int(XYRANGE + (turn*XYRANGE)))
vj.update(joystickPosition)
time.sleep(0.001)
vj.close()
print('FPS {}. Motion: {}. ThumbXaxis: {}. Throttle: {}. Brake: {}'.format(fps , motion_avg, int(XYRANGE + (turn*XYRANGE)), 0, int(-1*(ZRANGE*throttle))))
mode_choice = np.argmax(prediction)
if motion_avg < motion_req and len(motion_log) >= log_len:
print('WERE PROBABLY STUCK FFS, initiating some evasive maneuvers.')
# 0 = reverse straight, turn left out
# 1 = reverse straight, turn right out
# 2 = reverse left, turn right out
# 3 = reverse right, turn left out
quick_choice = random.randrange(0,4)
if quick_choice == 0:
reverse()
time.sleep(random.uniform(1,2))
forward_left()
time.sleep(random.uniform(1,2))
elif quick_choice == 1:
reverse()
time.sleep(random.uniform(1,2))
forward_right()
time.sleep(random.uniform(1,2))
elif quick_choice == 2:
reverse_left()
time.sleep(random.uniform(1,2))
forward_right()
time.sleep(random.uniform(1,2))
elif quick_choice == 3:
reverse_right()
time.sleep(random.uniform(1,2))
forward_left()
time.sleep(random.uniform(1,2))
for i in range(log_len-2):
del motion_log[0]
keys = key_check()
# p pauses game and can get annoying.
if 'T' in keys:
ultimate_release()
if paused:
paused = False
time.sleep(1)
else:
paused = True
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
time.sleep(1)