def __init__(self, spec, *arg, **kw):
self.sensor_enable = True
self.motor_enable = True
self.teleop = True
self.file_angle = False
try:
opts, args = getopt.getopt(sys.argv[1:], "hwsmaf", [
"wireless", "sensor_disable", "motor_disable",
"autonomous_mode", "file_angle"
])
except getopt.GetoptError:
print """ -h for help
-w (--wireless) for wireless mode
-s (--sensor_disable) for sensor disable
-m (--motor_disable) for motor disabl
-a (--autonomous_mode) for autonomous
-f (--file_angle) for using previous read angle"""
sys.exit(2)
for opt, arg in opts:
if opt == '-h':
print """ -h for help
-w (--wireless) for wireless mode
-s (--sensor_disable) for sensor disable
-m (--motor_disable) for motor disable
-a (--autonomous_mode) for autonomous
-f (--file_angle) for using previous read angle"""
sys.exit()
elif opt in ("-w", "--wireless"):
L.DEFAULT_PORT = "/dev/ttyACM0"
progress("starting in wireless mode")
elif opt in ("-s", "--sensor_disable"):
self.sensor_enable = False
progress("sensor has been disabled")
elif opt in ("-m", "--motor_disable"):
self.motor_enable = False
elif opt in ("-a", "--autonomous_mode"):
self.teleop = False
elif opt in ("-f", "--file_angle"):
self.file_angle = True
JoyApp.__init__(self, robot={'count': 3}, *arg, **kw)
self.laser_initial_pos = math.pi / 2
self.knob_pos = 0
self.laser_PD = PD.PD(-790.0 / 1270.0, -320.0 / 1270.0)
print("p: ", end = " ")
print([tasks[k].p for k in range(len(tasks))])
print("w: ", end = " ")
print([tasks[k].w for k in range(len(tasks))])
print("d: ", end = " ")
print([tasks[k].d for k in range(len(tasks))])
print()
pi_optymalne, czas = bf_algorithm(tasks,n)
print("Algorytm BF:\npi: ",end = " ")
print([pi_optymalne[k].id+1 for k in range(0,len(pi_optymalne))])
Fmin = FMIN(pi_optymalne)
print("Fmin: " + str(Fmin))
print("czas dzialanian programu: {0:02f}s\n".format(czas))
pi_optymalne, czas = greedy(tasks)
print("Algorytm greedy:\npi: ",end = " ")
print([pi_optymalne[k].id+1 for k in range(0,len(pi_optymalne))])
Fmin = FMIN(pi_optymalne)
print("Fmin: " + str(Fmin))
print("czas dzialanian programu: {0:02f}s\n".format(czas))
print("Algorytm PD:")
start = time.time()
result,order=PD(tasks)
czas = time.time() - start
order=list(reversed(order))
print("pi: ",order)
print("Fmin: ",result)
print("czas dzialanian programu: {0:02f}s\n".format(czas))
# Set object detection mode
is_objectDetect = True
if is_objectDetect:
import objectDetect
detector = objectDetect.detector(threshold=0.5)
# Imports modules according to mode
if cam.cvMode:
from Direction import *
else:
import Classifier
classifier = Classifier.interpreter()
driver.drive()
controller = PD()
offRoadCounter = 0
clockCounter = 0
try:
time.sleep(2)
startTime = time.time()
while True:
clockCounter += 1
cam.capture()
if is_objectDetect and clockCounter % 20 == 0:
detector.setTensors(cv2.resize(cam.frame, dsize=(300, 300)))
results = detector.detect_objects()
if len(results) > 0:
def __init__(self, robot): self.max_speed = .4 self.center_speed = .1 self.r = robot.at self.PD = PD.PD(0.005, 0.1)
