def reduce_speed(pwm, turn_count):
"""Reduce speed based on the turn count"""
turn_count = turn_count + 1
if turn_count < 3:
motor_driver_helper.change_pwm_duty_cycle(pwm, 100)
else:
print("Speed reduced - Forward")
motor_driver_helper.change_pwm_duty_cycle(pwm, 85)
return turn_count
def increase_speed_on_turn(pwm, turn_count):
"""Increase speed based on the turn count"""
turn_count = turn_count + 1
if turn_count > 4:
print("Speed Increased")
motor_driver_helper.change_pwm_duty_cycle(pwm, 100)
else:
motor_driver_helper.change_pwm_duty_cycle(pwm, 85)
return turn_count
def interactive_control():
"""Runs the interactive control"""
setup_interactive_control()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = configuration.PICAMERA_RESOLUTION
camera.framerate = configuration.PICAMERA_FRAMERATE
time.sleep(configuration.PICAMERA_WARM_UP_TIME)
# GPIO.output(BACK_MOTOR_ENABLE_PIN, True)
pwm = motor_driver_helper.get_pwm_imstance()
motor_driver_helper.start_pwm(pwm)
command = 'idle'
duty_cycle = configuration.INITIAL_PWM_DUTY_CYCLE
while True:
up_key, down, left, right, change, accelerate, decelerate, stop = get_keys(
)
if stop:
break
if accelerate:
duty_cycle = duty_cycle + 3 if (duty_cycle +
3) <= 100 else duty_cycle
motor_driver_helper.change_pwm_duty_cycle(pwm, duty_cycle)
print("speed: " + str(duty_cycle))
if decelerate:
duty_cycle = duty_cycle - 3 if (duty_cycle -
3) >= 0 else duty_cycle
motor_driver_helper.change_pwm_duty_cycle(pwm, duty_cycle)
print("speed: " + str(duty_cycle))
if change:
command = 'idle'
motor_driver_helper.set_idle_mode()
if up_key:
command = 'forward'
print(duty_cycle)
motor_driver_helper.set_forward_mode()
elif down:
command = 'reverse'
motor_driver_helper.set_reverse_mode()
append = lambda x: command + '_' + x if command != 'idle' else x
if left:
command = append('left')
motor_driver_helper.set_left_mode()
elif right:
command = append('right')
motor_driver_helper.set_right_mode()
print(command)
stream = io.BytesIO()
camera.capture(stream, format='jpeg', use_video_port=True)
image_helper.save_image_with_direction(stream, command)
stream.flush()
clock.tick(30)
pygame.quit()
def autonomous_control(model):
"""Run the car autonomously"""
predictor = Predictor(model)
with picamera.PiCamera() as camera:
camera.resolution = configuration.PICAMERA_RESOLUTION
camera.framerate = configuration.PICAMERA_FRAMERATE
time.sleep(configuration.PICAMERA_WARM_UP_TIME)
camera.rotation = 180
pwm = motor_driver_helper.get_pwm_imstance()
motor_driver_helper.start_pwm(pwm)
forward_cycle_count = left_cycle_count = right_cycle_count = 0
should_brake = False
while True:
stream = io.BytesIO()
camera.capture(stream, format='jpeg', use_video_port=True)
direction = predictor.predict(stream)
image_helper.save_image_with_direction(stream, direction)
stream.flush()
if direction == 'forward':
should_brake = True
left_cycle_count = right_cycle_count = 0
forward_cycle_count = reduce_speed(pwm, forward_cycle_count)
motor_driver_helper.set_front_motor_to_idle()
motor_driver_helper.set_forward_mode()
elif direction == 'left':
should_brake = True
forward_cycle_count = right_cycle_count = 0
left_cycle_count = increase_speed_on_turn(
pwm, left_cycle_count)
motor_driver_helper.set_left_mode()
motor_driver_helper.set_forward_mode()
elif direction == 'right':
should_brake = True
forward_cycle_count = left_cycle_count = 0
right_cycle_count = increase_speed_on_turn(
pwm, right_cycle_count)
motor_driver_helper.set_right_mode()
motor_driver_helper.set_forward_mode()
elif direction == 'reverse':
should_brake = True
#motor_driver_helper.set_front_motor_to_idle()
motor_driver_helper.set_right_mode()
motor_driver_helper.set_reverse_mode()
else:
if should_brake:
print("braking...")
#motor_driver_helper.set_reverse_mode()
time.sleep(0.2)
should_brake = False
motor_driver_helper.set_idle_mode()
forward_cycle_count = left_cycle_count = right_cycle_count = 0
motor_driver_helper.change_pwm_duty_cycle(pwm, 100)
print(direction)
def interactive_control():
"""Runs the interactive control"""
setup_interactive_control()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = (640, 480)
camera.framerate = 60
time.sleep(2)
# GPIO.output(BACK_MOTOR_ENABLE_PIN, True)
pwm = motor_driver_helper.get_pwm_imstance()
motor_driver_helper.start_pwm(pwm)
command = 'idle'
duty_cycle = configuration.INITIAL_PWM_DUTY_CYCLE
while True:
up_key, down, left, right, change, accelerate, decelerate, stop = get_keys()
if stop:
break
if accelerate:
duty_cycle = duty_cycle + 3 if (duty_cycle + 3) <= 100 else duty_cycle
motor_driver_helper.change_pwm_duty_cycle(pwm, duty_cycle)
print("speed: " + str(duty_cycle))
if decelerate:
duty_cycle = duty_cycle - 3 if (duty_cycle - 3) >= 0 else duty_cycle
motor_driver_helper.change_pwm_duty_cycle(pwm, duty_cycle)
print("speed: " + str(duty_cycle))
if change:
command = 'idle'
motor_driver_helper.set_idle_mode()
if up_key:
command = 'forward'
print(duty_cycle)
motor_driver_helper.set_forward_mode()
elif down:
command = 'reverse'
motor_driver_helper.set_reverse_mode()
append = lambda x: command + '_' + x if command != 'idle' else x
if left:
command = append('left')
motor_driver_helper.set_left_mode()
elif right:
command = append('right')
motor_driver_helper.set_right_mode()
print(command)
stream = io.BytesIO()
camera.capture(stream, format='jpeg', use_video_port=True)
image_helper.save_image_with_direction(stream, command)
stream.flush()
clock.tick(30)
pygame.quit()
def autonomous_control(model):
"""Run the car autonomously"""
predictor = Predictor(model)
with picamera.PiCamera() as camera:
camera.resolution = configuration.PICAMERA_RESOLUTION
camera.framerate = configuration.PICAMERA_FRAMERATE
time.sleep(configuration.PICAMERA_WARM_UP_TIME)
pwm = motor_driver_helper.get_pwm_imstance()
motor_driver_helper.start_pwm(pwm)
forward_cycle_count = left_cycle_count = right_cycle_count = 0
should_brake = False
while True:
stream = io.BytesIO()
camera.capture(stream, format='jpeg', use_video_port=True)
direction = predictor.predict(stream)
image_helper.save_image_with_direction(stream, direction)
stream.flush()
if direction == 'forward':
should_brake = True
left_cycle_count = right_cycle_count = 0
forward_cycle_count = reduce_speed(pwm, forward_cycle_count)
motor_driver_helper.set_front_motor_to_idle()
motor_driver_helper.set_forward_mode()
elif direction == 'left':
should_brake = True
forward_cycle_count = right_cycle_count = 0
left_cycle_count = increase_speed_on_turn(pwm, left_cycle_count)
motor_driver_helper.set_left_mode()
motor_driver_helper.set_forward_mode()
elif direction == 'right':
should_brake = True
forward_cycle_count = left_cycle_count = 0
right_cycle_count = increase_speed_on_turn(pwm, right_cycle_count)
motor_driver_helper.set_right_mode()
motor_driver_helper.set_forward_mode()
elif direction == 'reverse':
should_brake = True
motor_driver_helper.set_front_motor_to_idle()
motor_driver_helper.set_reverse_mode()
else:
if should_brake:
print("braking...")
motor_driver_helper.set_reverse_mode()
time.sleep(0.2)
should_brake = False
motor_driver_helper.set_idle_mode()
forward_cycle_count = left_cycle_count = right_cycle_count = 0
motor_driver_helper.change_pwm_duty_cycle(pwm, 100)
print(direction)
