示例#1
0
    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)
示例#2
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))
示例#3
0
# 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:
示例#4
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)