def __init__(self, TimeToSteer = 6, LogInfo = False,forwardSpeed = 40,turnSpeed = 35, confidenceNeeded = 0.90,InitCar = True,distanceToTurn = 50,
distanceToDetectMin = 15, distanceToDetectMax = 70):
# Αρχικοποίηση κινητήρων
if(InitCar):
picar.setup()
self.bw = back_wheels.Back_Wheels()
self.fw = front_wheels.Front_Wheels()
self.PreviousState = RobotState.Initial
self.State = RobotState.Initial
self.NNState = NeuralNetWorkRead.Unknown
self.distance = 0
self.confidence = 0
self.confidenceNeeded = confidenceNeeded
self.lastTime = time.time()
self.curTime = time.time()
self.timeDif = 0
self.distanceToTurn = distanceToTurn
self.TimeToSteer = TimeToSteer
self.FolderName = time.strftime("%Y%m%d-%H%M%S")
self.LogInfo = LogInfo
self.count = 0
self.forwardSpeed = forwardSpeed
self.turnSpeed = turnSpeed
self.distanceToDetectMin = distanceToDetectMin
self.distanceToDetectMax = distanceToDetectMax
self.lastLog = 0
if(LogInfo):
self.logger = logging.getLogger('./' + self.FolderName +'/logs.txt')
fh = logging.FileHandler(self.FolderName + '.html',mode = "w")
self.logger.setLevel(logging.INFO)
self.logger.addHandler(fh)
def setup():
global api, bw, fw, buzzer, led_green, led_red, mqtt_distance, mqtt_speed, ua
# 1. PiCar setup.
picar.setup()
ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
fw.turning_max = 45
# 2. GPIO pins for buzzer and LED.
GPIO.setmode(GPIO.BCM) # GPIO.BCM mode.
GPIO.setup(PIN_BUZZER, GPIO.OUT) # Buzzer pin.
GPIO.setup(PIN_LED, GPIO.OUT) # LED pins.
GPIO.output(PIN_LED, GPIO.LOW) # Set LED pins to low to turn off LEDs.
buzzer = GPIO.PWM(PIN_BUZZER, 440) # Set buzzer frequency to 440Hz.
led_red = GPIO.PWM(PIN_LED[0], 2000) # Set LED frequencies to 2KHz.
led_green = GPIO.PWM(PIN_LED[1], 2000)
buzzer.start(0)
led_red.start(0)
led_green.start(0)
# 3. Ubidots.
api = ApiClient(token='A1E-priJupwmfAGtVeOjcslK9wAW16HJzO')
mqtt_distance = api.get_variable('59e93a20c03f9748c6bc3d54')
mqtt_speed = api.get_variable('5a092816c03f9706c0205e88')
def __init__(self):
picar.setup()
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.bw.speed = 70
self.fw.turning_max = 45
self.forward_speed = 90
self.backward_speed = 70
self.back_distance = 10
self.turn_distance = 20
self.straight = 90
self.movement_dispatch = dict()
self.movement_dispatch[self.FORWARD] = self.accelerate
self.movement_dispatch[self.BACKWARD] = self.decelerate
self.movement_dispatch[self.LEFT] = self.turn_left
self.movement_dispatch[self.RIGHT] = self.turn_right
self.movement_reset = dict()
self.movement_reset[self.FORWARD] = self.stop
self.movement_reset[self.BACKWARD] = self.stop
self.movement_reset[self.LEFT] = self.turn_straight
self.movement_reset[self.RIGHT] = self.turn_straight
self.key_map = dict()
self.bw.stop()
def __init__(self):
picar.setup()
self.is_stopped = False
self.bw = back_wheels.Back_Wheels()
self.fw = front_wheels.Front_Wheels()
self.motor_speed = 0
self.turning_direction = ""
self.angle = self.DEFAULT_ANGLE
def __init__(self):
picar.setup()
db_file = "autonomous_car/picar_v/config"
self.fw = front_wheels.Front_Wheels(debug=False, db=db_file)
self.bw = back_wheels.Back_Wheels(debug=False, db=db_file)
self.bw.ready()
self.fw.ready()
self.bw_status = 0
def __init__(self):
self.fw = front_wheels.Front_Wheels(debug=True)
self.max_right = 135
self.max_left = 45
self.straight = 90
self.current_angle = 90
self.direction = 1
self.delta = 5 # number of degrees per turn
picar.setup()
def __init__(self):
self.music = playmusic.MUSIC()
self.steer_count = 0
""" Init camera and wheels"""
logging.info('Creating a DeepPiCar...')
picar.setup()
logging.debug('Set up back wheels')
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.bw.speed = DEFAULT_SPEED
def __init__(self, test_mode=False):
self._test_mode = False if test_mode is False else True
self._controller = InputController()
db_file = "config"
picar.setup()
self.fw = front_wheels.Front_Wheels(debug=False, db=db_file)
self.bw = back_wheels.Back_Wheels(debug=False, db=db_file)
self.bw.ready()
self.fw.ready()
self.fw.calibration()
def __init__(self, debug=False):
try:
from picar import front_wheels
from picar import back_wheels
import picar
except ImportError:
# the Picar moduls are not available,
# most likely due to the code running outside the Raspberry Pi
raise PicarModulesUnavailableException
picar.setup()
# ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
self.fw = front_wheels.Front_Wheels(db='config')
# self.fw.turning_max = 45
self.fw.debug = debug
self.bw = back_wheels.Back_Wheels(db='config')
self.bw.debug = debug
def setup():
global fw, bw, cam, SPEED, bw_status, is_setup
if is_setup == True:
return
from .picar_v_video_stream import Vilib
picar.setup()
db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config"
fw = front_wheels.Front_Wheels(debug=False, db=db_file)
bw = back_wheels.Back_Wheels(debug=False, db=db_file)
cam = camera.Camera(debug=False, db=db_file)
cam.ready()
bw.ready()
fw.ready()
Vilib.camera_start()
SPEED = 60
bw_status = 0
is_setup = True
def __init__(self):
picar.setup()
self.REFERENCES = [20.5, 25.0, 28.0, 21.5, 20.5]
# self.calibrate = True
self.calibrate = False
self.forward_speed = 40
self.turning_angle = 45
self.delay = 0.0005
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.lf = Line_Follower.Line_Follower()
self.lf.references = self.REFERENCES
self.fw.ready()
self.bw.ready()
self.fw.turning_max = 60
def main():
print('STARTING CAR')
picar.setup()
db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config"
fw = front_wheels.Front_Wheels(debug=True, db=db_file)
bw = back_wheels.Back_Wheels(debug=True, db=db_file)
cam = camera.Camera(debug=True, db=db_file)
cam.ready()
bw.ready()
fw.ready()
cv2Cam = cv2.VideoCapture(0)
# bw.speed = 20
turn_cam_down(cam)
current_state = 'straight'
while True:
print('TAKING PIC')
np_img = take_picture(cv2Cam)
print('CLASSIFYING PIC')
prediction = classify(np_img)
print('CLASSIFICATION: ' + prediction)
if prediction == 'straight':
if current_state == 'veer_left':
turn_straight_from_left(fw) # Overcorrect due to faulty car
else:
turn_straight(fw)
elif prediction == 'right':
turn_right(fw)
elif prediction == 'veer_right':
veer_right(fw)
elif prediction == 'veer_left':
veer_left(fw)
current_state = prediction
print('SLEEPING')
sleep_car(0.05)
print('')
print('')
def __init__(self):
self.fw = front_wheels.Front_Wheels(debug=False, db=db_file)
self.bw = back_wheels.Back_Wheels(debug=False, db=db_file)
self.bw.ready()
self.fw.ready()
self.turnStraight()
self.speed = 60
self.bw.speed = 0 #self.speed
self.fw_status = 0
self.bw_status = 0
self.fw.turning_max = 40
###### Parameters to translate robot speed 0-100 to absolute speed in cm/s
self.ref_speed = 20
self.ref_abs_speed = 3.6667
self.slope_speed = 0.6885
self.abs_speed = self.getAbsoluteSpeed()
###### Physical parameters of the car ##########################
self.L = 0.145 # The distance between front and rear wheels(in m).
def __init__(self):
# 0 = random direction, 1 = force left, 2 = force right, 3 = orderdly
self.force_turning = 0
picar.setup()
self.ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.fw.turning_max = 45
self.forward_speed = 70
self.backward_speed = 70
self.back_distance = 10
self.turn_distance = 20
self.timeout = 10
self.last_angle = 90
self.last_dir = 0
self.command = xavier_command.STOP
def __init__(self, test_img_src=None):
self._test_mode = False
self._test_img_src = None
if test_img_src:
if os.path.isfile(test_img_src):
self._test_mode = True
self._test_img_src = test_img_src
else:
raise IOError("File does not exist.")
picar.setup()
db_file = "config"
self._fw = front_wheels.Front_Wheels(debug=False, db=db_file)
self._bw = back_wheels.Back_Wheels(debug=False, db=db_file)
self._fw.ready()
self._bw.ready()
self._fw.calibration()
self._camera = Camera()
self._tag = TagRecognition(resolution=144, marker_length=0.025)
self._speed = 0
self._tag_data = {
'x': 0,
'z': 0,
'direction': 0,
'decision': 0,
'yaw': 0
}
self._tag_lost_time = 0
self._speed_cycle_time = time()
self._turn_time = time()
def __init__(self, **kwargs):
# Initialise the parent class
Thread.__init__(self)
# Flat to exit gracefully
self.shutdown_flag = Event()
# Start the HS server
self.server_connect(**kwargs)
# Create SMBus instance
self.bus = smbus.SMBus(1)
self.address = 0x11
self.references = 5 * [kwargs.get('reference', 600)]
self.referneces = [600, 600, 600, 600, 800]
self.speed = kwargs.get('speed', 35)
self.turn = 40
picar.setup()
# Initialise the wheel objects
self.front_wheels = front_wheels.Front_Wheels(db='config')
self.back_wheels = back_wheels.Back_Wheels(db='config')
print('configured wheels')
class MyController(Controller):
picar.setup()
bw = back_wheels.Back_Wheels()
fw = front_wheels.Front_Wheels()
pan_servo = Servo.Servo(1)
bw.speed = 0
motor_speed = 60
cap = cv2.VideoCapture(0)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
def on_x_press(self):
_,img = self.cap.read()
cv2.imwrite('Documents\\'+ str(time.time())+ '.png',img)
print("picture taken")
def on_L3_up(self, value):
speed = int((value/400)*-1)
print("forward:" + str(speed))
self.bw.speed = speed
self.bw.backward()
def on_L3_down(self, value):
speed = int(value/400)
print("backward:" + str(speed))
self.bw.speed = speed
self.bw.forward()
def on_L3_left(self, value):
print("value1:" + str(value))
angleL = int((75-(-25/32767) * value))
print("angle1:" + str(angleL))
self.fw.turn(angleL)
def on_L3_right(self, value):
print("value2:" + str(value))
angleR = int(((60/32767) * value + 75))
print("angle2: " + str(angleR))
self.fw.turn(angleR)
publish_no_trigger = 0 # uj , forklift_power_error publish skip stop_active = True reset_active = False # csak arra van hasznalva, hogy skippelje a vonalakat pause_event = threading.Event() # magyarazat: lasd. gateway pause_event.set() # not blocking by default; True = not paused, False = paused picar.setup() REFERENCES = [394, 329, 395, 402, 397] #REFERENCES = [270,290,300,290,270] #REFERENCES = [330,330,330,330,330] refFile = "../referenceConfig" fw = front_wheels.Front_Wheels(db='../wheel_config') #fw.debug = True bw = back_wheels.Back_Wheels(db='../wheel_config') forwardSpeed = carconfig.getForwardSpeed() lf = Line_Follower.Line_Follower() fw.ready() bw.ready() #45 fw.turning_max = 50 logging.basicConfig(filename='car.log', level=logging.DEBUG, \
#!/usr/bin/env python
import rospy
from picar import front_wheels, back_wheels
from picar.SunFounder_PCA9685 import Servo
import picar
from time import sleep
import numpy as np
from geometry_msgs.msg import Twist
bw = back_wheels.Back_Wheels()
fw = front_wheels.Front_Wheels()
picar.setup()
bw.speed = 0
fw.turn(90)
motor_speed = 20
curr_speed = 0
curr_dir = 0
def fw_movement(data):
global curr_speed
if data.linear.x > 0:
curr_speed += 1
if curr_speed > 5:
curr_speed = 5
elif data.linear.x < 0:
curr_speed -= 1
def __init__(self):
self.fw = front_wheels.Front_Wheels()
self.bw = back_wheels.Back_Wheels()
self.speed = 30
from control.models import Recording
from control.utils import Capture
from picar import back_wheels, front_wheels
import picar
import json
import cv2
import git
import glob
import os
import logging
try:
picar.setup()
fw = front_wheels.Front_Wheels(debug=False, db=settings.CONFIG_FILE)
bw = back_wheels.Back_Wheels(debug=False, db=settings.CONFIG_FILE)
cam = camera.Camera(debug=False, db=settings.CONFIG_FILE)
cam.ready()
bw.ready()
fw.ready()
straight_angle = fw._straight_angle
min_angle = fw._min_angle
max_angle = fw._max_angle
except:
fw = None
bw = None
cam = None
straight_angle = 90
min_angle = 45
max_angle = 135
def __init__(self):
self.fw = front_wheels.Front_Wheels()
self.fw._angle = {'straight': 75, 'left': 32, 'right': 132}
self.bw = back_wheels.Back_Wheels()
self.speed = 40
print("INIT")
picar.setup()
REFERENCES = [200, 200, 200, 200, 200]
# calibrate = True
calibrate = False
forward_speed = 80
backward_speed = 70
turning_angle = 40
dooms_day = False
max_off_track_count = 40
delay = 0.0005
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
lf = Line_Follower.Line_Follower()
lf.references = REFERENCES
fw.ready()
bw.ready()
fw.turning_max = 45
# Picar Ultrasonic init
UA = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
# PICAR ORDERS
def order(value):
if "SPEED" in value.upper():
class PiCarController:
force_turning = 0 # 0 = random direction, 1 = force left, 2 = force right, 3 = orderdly
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
fw.turning_max = 45
forward_speed = 100
backward_speed = 100
back_distance = 10
turn_distance = 20
timeout = 10
last_angle = 90
last_dir = 0
turning_angle = 8
current_angle = 100
moving = False
turning = False
def debug(self, func):
print(func)
print("is moving - {}".format(self.moving))
print("is turning - {}".format(self.turning))
def on_press(self, key):
self.debug("on_press")
if key in [Key.up, Key.down, Key.left, Key.right]:
if key == Key.down and self.moving is False:
self.moving = True
print("down")
self.bw.backward()
self.bw.speed = self.backward_speed
elif key == Key.up and self.moving is False:
print("up")
self.moving = True
self.bw.forward()
self.bw.speed = self.forward_speed
elif key == Key.left and self.turning is False:
self.turning = True
print("left")
if self.current_angle - self.turning_angle > 50:
self.current_angle -= self.turning_angle
self.fw.turn(self.current_angle)
elif key == Key.right and self.turning is False:
self.turning = True
print("right")
if self.current_angle + self.turning_angle < 150:
self.current_angle += self.turning_angle
self.fw.turn(self.current_angle)
def on_release(self, key):
self.debug("on_release")
if key in [Key.up, Key.down, Key.left, Key.right]:
if key == Key.down and self.moving is True:
self.moving = False
print("down - stop")
self.bw.stop()
elif key == Key.up and self.moving is True:
self.moving = False
print("up - stop")
self.bw.stop()
elif key == Key.left and self.turning is True:
self.turning = False
print("left - stop")
elif key == Key.right and self.turning is True:
self.turning = False
print("right - stop")
if key == Key.esc:
# Stop listener
return False
hmx = 37 smn = 96 smx = 255 vmn = 186 vmx = 255 MIDDLE_TOLERANT = 5 PAN_ANGLE_MAX = 170 PAN_ANGLE_MIN = 10 TILT_ANGLE_MAX = 150 TILT_ANGLE_MIN = 70 FW_ANGLE_MAX = 90 + 30 FW_ANGLE_MIN = 90 - 30 bw = back_wheels.Back_Wheels(debug=True) fw = front_wheels.Front_Wheels(debug=True) cm = camera.Camera(debug=True) picar.setup() #fw.offset = 0 #pan_servo.offset = 10 #tilt_servo.offset = 0 bw.speed = 0 fw.turn(90) cm.to_position(90, 90) motor_speed = 90 def main():
from picar import back_wheels
import time
import picar
picar.setup()
REFERENCES = [200, 200, 200, 200, 200]
forward_speed = 80
backward_speed = 70
turning_angle = 40
max_off_track_count = 40
delay = 0.0005
fw = front_wheels.Front_Wheels(db="config")
bw = back_wheels.Back_Wheels(db="config")
lf = Line_Follower.Line_Follower()
lf.references = REFERENCES
fw.ready()
bw.ready()
fw.turning_max = 45
analogThreshold = 10
def straight_run():
while True:
bw.speed = 70
bw.forward()
fw.turn_straight()
* Brand : SunFounder * E-mail : [email protected] * Website : www.sunfounder.com * Update : Cavon 2016-09-13 New release ********************************************************************** ''' from django.shortcuts import render_to_response from driver import camera, stream from picar import back_wheels, front_wheels from django.http import HttpResponse import picar picar.setup() db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config" fw = front_wheels.Front_Wheels(debug=False, db=db_file) bw = back_wheels.Back_Wheels(debug=False, db=db_file) cam = camera.Camera(debug=False, db=db_file) cam.ready() bw.ready() fw.ready() SPEED = 60 bw_status = 0 print stream.start() def home(request): return render_to_response("base.html") def run(request):
* Update : Cavon 2016-09-13 New release
**********************************************************************
'''
import picar
from .driver import camera
from .driver import stream
from django.http import HttpResponse
from django.shortcuts import render as render_to_response
from picar import back_wheels
from picar import front_wheels
picar.setup()
db_file = "/home/pi/SunFounder_PiCar-V/remote_control/remote_control/driver/config"
fw = front_wheels.Front_Wheels(debug=True, db=db_file)
bw = back_wheels.Back_Wheels(debug=True, db=db_file)
cam = camera.Camera(debug=True, db=db_file)
cam.ready()
bw.ready()
fw.ready()
SPEED = 60
bw_status = 0
print(stream.start())
def home(request):
return render_to_response("base.html")