From 0284507041c447dfc1bc3d0985a4bde643bb90f5 Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Mon, 25 Oct 2021 16:33:45 -0700
Subject: [PATCH] test keyboard code
---
Code/Control/Laptop_Code/main_keyboard.py | 66 +++++++++++++++++++----
1 file changed, 56 insertions(+), 10 deletions(-)
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index a7dd3db..3b0af13 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -1,11 +1,16 @@
import time
import serial
-import ball_detection.ball_detection as ball_detection
+import pygame
import simple_pid.PID as PID
import cv2
from constants import *
+global ml
+ml = 0
+if ml == 1:
+ import ball_detection.ball_detection as ball_detection
+
# ========= Serial Port I/O ===========
def serial_port_in(serial_port):
@@ -283,7 +288,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
ballDetect = ball_detect(gbx, gby)
ballCapture = ball_capture(LIDAR_dist)
goalDetect = goal_detect(tx, ty)
-
+ ballCapture = 1
if ballCapture: # Ball captured
if goalDetect: # Goal detected
# stop_all() # Debug
@@ -328,7 +333,11 @@ def auto_control(serial_port):
# =================================== tested autonomous control ======================================================
# ===== STEP 1: TAKE ALL INPUT =====
waitTime = 0.05
- gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight=True)
+ if ml == 1:
+ gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight=True)
+ else:
+ gbx, gby = -1, -1
+ gb_dist = -1
line = serial_port.readline()
if line == b'SERIAL_IN_START\r\n':
@@ -357,6 +366,17 @@ def decode_ctl(Ctl_com):
dir4 = Ctl_com[7]
return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+def manual_command(val1,val2,val3,val4,sign1,sign2,sign3,sign4):
+ pwm1 = val1
+ pwm2 = val2
+ pwm3 = val3
+ pwm4 = val4
+ dir1 = sign1
+ dir2 = sign2
+ dir3 = sign3
+ dir4 = sign4
+ return pwm1,pwm2,pwm3,pwm4,dir1,dir2,dir3,dir4
+
def manual_control(Ctl_com,serial_port):
if get_key("w"):
@@ -392,14 +412,32 @@ def manual_control(Ctl_com,serial_port):
time.sleep(waitTime)
-def variables_change():
- pass
+def dynamic_variable(str_name_v):
+
+ global kpx,kix,kdx,start_speed
+ if str_name_v == "kpx":
+ kpx = input("Enter your value: ")
+ print("kpx:{}".format(kpx))
+ elif str_name_v == "kix":
+ kix = input("Enter your value: ")
+ print("kix:{}".format(kix))
+ elif str_name_v == "kdx":
+ kdx = input("Enter your value: ")
+ print("kdx:{}".format(kdx))
+ elif str_name_v == "stsp":
+ start_speed = input("Enter your value: ")
+ print("start_speed:{}".format(start_speed))
+
+def variables_change_once():
+
+ str_name = input("Enter your variable: ")
+ dynamic_variable(str_name)
# ===== Main Function =====
if __name__ == '__main__':
# =========== SET UP ============
# Defining Variables for ESP 32 Serial I/O
- PORT = "COM6" # for Alienware
+ PORT = "COM20" # Based on your own serial port number
serial_port = serial.Serial(PORT, 115200)
serial_port.close()
serial_port.open()
@@ -408,10 +446,12 @@ if __name__ == '__main__':
waitTime = 0.05
# Loading the PyTorch ML model for ball detection
- model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
+ if ml == 1:
+ model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
# =========== DECLARE VARIABLES ===========
# ESP CAM In
+ global gbx,gby,gb_dist
gbx, gby = -1, -1 # by default (-1 means no found green ball)
gb_dist = -1 # by default (-1 means no found green ball)
@@ -426,13 +466,17 @@ if __name__ == '__main__':
dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
# Trigger the ESP32_SLAVE to talk first
- gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ if ml == 1:
+ gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
Ctl_com = [0, 0, 0, 0, "+", "+", "+", "+"]
flag = 0
print_count = 1
+ global start_speed
+ start_speed = 70
+
init()
# =========== LOOP FOREVER===========
while True:
@@ -456,8 +500,10 @@ if __name__ == '__main__':
elif get_key('v'):
flag = 3
while (flag == 3):
- variables_change()
- flag, print_count = keyboard_stop(flag,print_count)
+ variables_change_once()
+ flag = 0
+ print_count = 1
+
elif get_key('k'):
break
--
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