From 130bd3bfb6052c0ad399d8ab0986b3d76bb20baf Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Thu, 21 Oct 2021 23:23:20 -0700
Subject: [PATCH] Upload latest code
---
.../feather_main_test_PID_Lidar.ino | 66 +-
.../Laptop_Code/ESP32_slave/ESP32_slave.ino | 637 +++++++++---------
.../ESP32_slave/New Text Document.txt | 0
.../distance-detection-torch.cpython-38.pyc | Bin 5957 -> 5957 bytes
Code/Control/Laptop_Code/constants.py | 7 +-
Code/Control/Laptop_Code/main.py | 7 +-
.../main_zhiying_catchBall_test_2in1.py | 371 ++++++++++
.../main_zhiying_seeking_indv_test.py | 12 +-
8 files changed, 736 insertions(+), 364 deletions(-)
create mode 100644 Code/Control/Laptop_Code/ESP32_slave/New Text Document.txt
create mode 100644 Code/Control/Laptop_Code/main_zhiying_catchBall_test_2in1.py
diff --git a/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_Lidar/feather_main_test_PID_Lidar.ino b/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_Lidar/feather_main_test_PID_Lidar.ino
index d593541..c46f2f5 100644
--- a/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_Lidar/feather_main_test_PID_Lidar.ino
+++ b/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_Lidar/feather_main_test_PID_Lidar.ino
@@ -18,7 +18,7 @@ SFEVL53L1X distanceSensor;
int budgetIndex = 4;
int budgetValue[7] = {15, 20, 33, 50, 100, 200, 500};
int LED = LED_BUILTIN;
-//
+//
//Identify all the global constants that will be used by the robot
const int BAUD_RATE = 115200;
@@ -48,7 +48,7 @@ const int DEBUG_THRESHOLD_MAX = 25;
const int DEBUG_VERTICALSPEED = 17;
const int DEBUG_RSPEED = 16;
const int DEBUG_LSPEED = 24;
-int lidar_thres = 300; // mm
+int lidar_thres = 300; // mm
//Create the interface that will be used by the camera
openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
@@ -57,7 +57,7 @@ openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, cons
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// changed
-Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1);
+Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1);
Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2);
Adafruit_DCMotor *motorLeft = AFMS.getMotor(3);
Adafruit_DCMotor *motorRight = AFMS.getMotor(4);
@@ -79,7 +79,7 @@ void setup() {
AFMS.begin(); // create with the default frequency 1.6KHz
interface.begin(); //communication between ESP and OpenMV
panel.beginPanel();
- Setpointx = 160.0;
+ Setpointx = 160.0;
Setpointy = 120.0; //the values that the PID will try to reach
PID_y.SetOutputLimits(-255, 255); //up positive
PID_x.SetOutputLimits(-255, 255); //left positive
@@ -115,19 +115,19 @@ int goal_id[3] = {0, 1, 2};
// //do whatever we have been doing before to find a green balloon
//}
-void loop() {
+void loop() {
panel.singleLED(DEBUG_BASESPEED, BASE_SPEED, BASE_SPEED, BASE_SPEED);
//if the demo is still ongoing, check to see if there is a desired-color blob
panel.singleLED(DEBUG_STATE, 10, 0, 0); //standby
-
+
//========== lidar part =========
int dist = 0;
int ball_cap = 0;
dist = distanceSensor.getDistance();
Serial.println(dist);
- if ((dist < lidar_thres) && (dist > 0)){ // if we capture the ball
- ball_cap = 1;
+ if ((dist < lidar_thres) && (dist > 0)){ // if we capture the ball
+ ball_cap = 1;
Serial.println("find ball");
}else{
ball_cap = 2;
@@ -138,7 +138,7 @@ void loop() {
int tx = 0; int ty = 0; int tz = 0;
int rx = 0; int ry = 0; int rz = 0;
int8_t goal[3] = {0,1,2};
-
+
if (ball_cap == 1){
if(cam.exe_goalfinder(goal[0],goal[1],goal[2], id, tx, ty, tz, rx, ry, rz)){
panel.singleLED(DEBUG_STATE, 0, 10, 0);
@@ -154,13 +154,13 @@ void loop() {
moveVertical(Outputy);
moveHorizontal(Outputx, BASE_SPEED);
}else { // seeking
- seeking();
+ seeking();
}
}else {
moveVertical(0);
moveHorizontal(0, 0);
}
- /*
+
if(cam.exe_color_detection_biggestblob(threshold[0], threshold[1], threshold[2], threshold[3], threshold[4], threshold[5], x, y)){
if (displayTracking > 0){
displayTrackedObject(x, y, RESOLUTION_W, RESOLUTION_H); //THIS NEEDS WORK
@@ -174,7 +174,7 @@ void loop() {
//actuate the vertical motor
moveVertical(Outputy);
moveHorizontal(Outputx, BASE_SPEED);
-
+
} else { //seeking algorithm
//panel.resetPanel();
panel.singleLED(DEBUG_STATE, 10, 10, 10);
@@ -183,7 +183,7 @@ void loop() {
moveVertical(zero);
moveHorizontal(SEEKING_SPEED, zero);
}
- */
+
}
// ============================== ^ main loop ^====================================
@@ -200,17 +200,17 @@ void seeking(){
void moveVertical(int vel){
if (vel > 0) { //up
panel.singleLED(DEBUG_VERTICALSPEED, abs(vel), 0, 0);
- // changed
+ // changed
motorVertical_L->setSpeed(abs((int) vel));
- motorVertical_R->setSpeed(abs((int) vel));
- motorVertical_L->run(BACKWARD);
+ motorVertical_R->setSpeed(abs((int) vel));
+ motorVertical_L->run(BACKWARD);
motorVertical_R->run(FORWARD);
// changed
} else if(vel < 0) { //down
panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, abs(vel));
// changed
- motorVertical_L->setSpeed(abs((int) vel));
- motorVertical_R->setSpeed(abs((int) vel));
+ motorVertical_L->setSpeed(abs((int) vel));
+ motorVertical_R->setSpeed(abs((int) vel));
motorVertical_L->run(FORWARD);
motorVertical_R->run(BACKWARD);
@@ -221,7 +221,7 @@ void moveVertical(int vel){
//changed
motorVertical_L->setSpeed(0);
motorVertical_R->setSpeed(0);
- //changed
+ //changed
}
}
@@ -230,13 +230,13 @@ void moveHorizontal(int vel_hori,int base_speed){
int lspeed = -1*vel_hori + base_speed;
int rspeed = vel_hori + base_speed;
- if (lspeed > 0){
- motorLeft->run(BACKWARD); // make it move forward
+ if (lspeed > 0){
+ motorLeft->run(BACKWARD); // make it move forward
} else {
- motorLeft->run(FORWARD);
+ motorLeft->run(FORWARD);
}
if (rspeed > 0){
- motorRight-> run(FORWARD);
+ motorRight-> run(FORWARD);
} else {
motorRight-> run(BACKWARD); // make it move backward
}
@@ -262,7 +262,7 @@ void displaySpeed(int lspeed, int rspeed){
//When using the camera to detect objects such as colored blobs or april tags. This function is
//useful when only a single object is the target. The approximate position will be marked with an
-//led turning white in the 8*4 panel of the NeoPixel LED Panel. Therefore, this function can be
+//led turning white in the 8*4 panel of the NeoPixel LED Panel. Therefore, this function can be
//called assuming that you have created the LED panel object, which in this code is named "panel".
//If the LED panel is called something else, just edit the code here
void displayTrackedObject(int cx, int cy, int w_res, int h_res){
@@ -300,7 +300,7 @@ void translateCodetoThreshold(int code){
case 1: //green old = (30, 100, -68, -13, 30, 127)
//(30,100,-68,2,6,127) - detect the yellow wall as well
// LAB: L[min] - L[max], A[min] - A[max], B[min] - B[max]
- threshold[0] = 30;
+ threshold[0] = 30;
threshold[1] = 100;
threshold[2] = -93;
threshold[3] = -5;
@@ -326,11 +326,11 @@ void translateCodetoThreshold(int code){
}
-//threshold array must have at least six elements. This function helps
+//threshold array must have at least six elements. This function helps
//translating a message with threshold values to ints. Example msg that would
-//be received by this function are "1 2 3 4 5 6" or "-100 70 9 -9 -50 128".
+//be received by this function are "1 2 3 4 5 6" or "-100 70 9 -9 -50 128".
//NOTE: - the threshold value should be between -128 to 128
-// - the message should not include the command character used by the mesh
+// - the message should not include the command character used by the mesh
// - suggested command character: 'C'[olor]
void setColorThreshold(String msg, int8_t thres[], int arraySize){
int len = msg.length();
@@ -344,14 +344,14 @@ void setColorThreshold(String msg, int8_t thres[], int arraySize){
}
if (temp == 5){
thres[temp] = msg.substring(startpoint).toInt();
- break;
+ break;
}
}
}
-//This function translate a string of message into the constants for a PID controller. Ignoring the
+//This function translate a string of message into the constants for a PID controller. Ignoring the
//first command character, user can input any one, two, or all three parameter to be changed by identifying
-//the new parameter with the capital letter of that specific parameter, each separated with a space.
+//the new parameter with the capital letter of that specific parameter, each separated with a space.
//Some of the valid msg examples are:
// - "P0.02"
// - "D1.23"
@@ -366,7 +366,7 @@ void setPIDConstants(String msg, double &p_constant, double &i_constant, double
double new_p = Kpx;
double new_i = Kix;
double new_d = Kdx;
-
+
int len = msg.length();
int startpoint = 0;
int endpoint = 0;
@@ -431,7 +431,7 @@ void setPIDConstants(String msg, double &p_constant, double &i_constant, double
p_constant = new_p;
i_constant = new_i;
d_constant = new_d;
-
+
while(millis() < t+2000); //debugging LED will light up for 2 seconds
panel.singleLED(DEBUG_KP, 0, 0, 0);
panel.singleLED(DEBUG_KI, 0, 0, 0);
diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
index 34bf1ba..b661f45 100644
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
@@ -1,319 +1,318 @@
-#include <esp_now.h>
-#include <WiFi.h>
-#include <Wire.h>
-#include <SparkFun_VL53L1X.h>
-#include <Arduino.h>
-
-#include "Camera.h"
-#include "utilities.h"
-#include <Adafruit_MotorShield.h>
-
-// REPLACE WITH THE MAC Address of your receiver (MASTER)
-// Slave: 40:F5:20:44:B6:4C
-// uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xCF, 0x00};
-uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
-String success;
-
-// Define variables to store incoming readings
-String sentDebugM = "";
-int Rec_pwm1;
-int Rec_pwm2;
-int Rec_pwm3;
-int Rec_pwm4;
-String Rec_dir1;
-String Rec_dir2;
-String Rec_dir3;
-String Rec_dir4;
-
-int count = 0;
-int count_var = 0;
-int print_count = 0;
-int change_count =0;
-int Lidar_flag = 0;
-
-// Define variables to be sent;
-int Sent_tx = 0;
-int Sent_ty = 0;
-int Sent_tz = 0;
-int Sent_rx = 0;
-int Sent_ry = 0;
-int Sent_rz = 0;
-int Sent_dist = 0;
-
-int8_t g1 = 0,g2=1,g3=2;
-int8_t goal_id[3] = {g1, g2, g3};
-
-// Define Lidar variables
-SFEVL53L1X distanceSensor;
-int budgetIndex = 4;
-int budgetValue[7] = {15, 20, 33, 50, 100, 200, 500};
-
-// Define LED variable
-int LED = LED_BUILTIN;
-
-// ==================================== data structure =================================================
-//Structure the sending data
-//Must match the receiver structure
-typedef struct struct_message {
- int Rtx;
- int Rty;
- int Rtz;
- int Rrx;
- int Rry;
- int Rrz;
- int Rdist;
- String DebugM;
- int Spwm1;
- int Spwm2;
- int Spwm3;
- int Spwm4;
- String Sdir1;
- String Sdir2;
- String Sdir3;
- String Sdir4;
-} struct_message;
-// Create a struct_message to hold incoming sensor readings
-// struct_message incomingReadings;
-struct_message receivedData;
-
-// =================================== send and received function =====================================
-// Callback when data is sent
-void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
- Serial.print("\r\nLast Packet Send Status:\t");
- Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
- if (status ==0){
- success = "Delivery Success :)";
- }
- else{
- success = "Delivery Fail :(";
- }
-}
-
-// Callback when data is received
-void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
- memcpy(&receivedData, incomingData, sizeof(receivedData));
- // the data format: 225 225 225 225 + + - -
- // + up / forward
- // - down / backward
- Rec_pwm1 = receivedData.Spwm1;
- Rec_pwm2 = receivedData.Spwm2;
- Rec_pwm3 = receivedData.Spwm3;
- Rec_pwm4 = receivedData.Spwm4;
- Rec_dir1 = receivedData.Sdir1;
- Rec_dir2 = receivedData.Sdir2;
- Rec_dir3 = receivedData.Sdir3;
- Rec_dir4 = receivedData.Sdir4;
- count_var = 0;
- count = 0;
- print_count=0;
-
- change_count = 0;
-}
-
-// =============================== All the setup ===========================================
-//Create the interface that will be used by the camera
-openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
-openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument
-Camera cam(&interface);
-// ========================== Motor part ====================================
-// Create the motor shield object with the default I2C address
-Adafruit_MotorShield AFMS = Adafruit_MotorShield();
-// changed
-Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1); // pwm1
-Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2); // pwm2
-Adafruit_DCMotor *motorLeft = AFMS.getMotor(3); // pwm3
-Adafruit_DCMotor *motorRight = AFMS.getMotor(4); // pwm4
-// ==================================== Set up =================================================
-void setup() {
- // Init Serial Monitor
- Serial.begin(115200);
- Wire.begin();
- interface.begin(); //communication between ESP and OpenMV
- AFMS.begin(); // create with the default frequency 1.6KHz
- // -------------- LED part --------------------
- pinMode(LED, OUTPUT);
- digitalWrite(LED, HIGH);
- digitalWrite(LED, LOW);
-
- // -------------- lidar part --------------------
- if (distanceSensor.begin() == 0){
- Serial.println("Sensor online!");
- Lidar_flag = 1;
- }else {
- Lidar_flag = 0;
- }
-
- distanceSensor.startRanging();
- distanceSensor.setIntermeasurementPeriod(budgetValue[budgetIndex]);
-
- // --------------------------- esp now ---------------------------
- // Set device as a Wi-Fi Station
- WiFi.mode(WIFI_STA);
-
- // Init ESP-NOW
- if (esp_now_init() != ESP_OK) {
- Serial.println("Error initializing ESP-NOW");
- return;
- }
-
- // Once ESPNow is successfully Init, we will register for Send CB to
- // get the status of Trasnmitted packet
- esp_now_register_send_cb(OnDataSent);
-
- // Register peer
- esp_now_peer_info_t peerInfo;
- memcpy(peerInfo.peer_addr, broadcastAddress, 6);
- peerInfo.channel = 0;
- peerInfo.encrypt = false;
-
- // Add peer
- if (esp_now_add_peer(&peerInfo) != ESP_OK){
- Serial.println("Failed to add peer");
- return;
- }
- // Register for a callback function that will be called when data is received
- esp_now_register_recv_cb(OnDataRecv);
-
-}
-
-// ================================== Main loop ===================================================
-void loop()
-{
- //-------------------------------------------------------------------------------------
- // ========== goal finder =========
- int id = -1;
- int tx = 0; int ty = 0; int tz = 0;
- int rx = 0; int ry = 0; int rz = 0;
- int x = 0;
- int y = 0;
- bool goalfind_flag = 0;
-
- goalfind_flag = cam.exe_goalfinder(goal_id[0],goal_id[1],goal_id[2], id, tx, ty, tz, rx, ry, rz);
- if (goalfind_flag){
- Sent_tx = tx;
- Sent_ty = ty;
- Sent_tz = tz; // cm
- Sent_rx = rx;
- Sent_ry = ry;
- Sent_rz = rz;
- }else{
- Sent_tx = 0;
- Sent_ty = 0;
- Sent_tz = 0; // cm
- Sent_rx = 0;
- Sent_ry = 0;
- Sent_rz = 0;
- }
- if (Lidar_flag == 1){
- Sent_dist = distanceSensor.getDistance(); // Lidar distance (use the real Lidar data)
- }else {
- Sent_dist = 0;
- }
- // ========== lidar state info =========
- if (Sent_dist < 300 && Sent_dist < 0){
- receivedData.DebugM = "found b";
- }else{
- receivedData.DebugM = "no b";
- }
- // ========== send info =========
- receivedData.Rtx = Sent_tx;
- receivedData.Rty = Sent_ty;
- receivedData.Rtz = Sent_tz;
- receivedData.Rrx = Sent_rx;
- receivedData.Rry = Sent_ry;
- receivedData.Rrz = Sent_rz;
- receivedData.Rdist = Sent_dist;
- send_var_once();
- print_received_Data();
-
- //-------------------------------------------------------------------------------------
- control_motion();
- //-------------------------------------------------------------------------------------
-}
-// ================================== ^ Main loop ^ ===================================================
-void control_motion(){
- // vertical motor
- motorVertical_L->setSpeed(abs(Rec_pwm1));
- motorVertical_R->setSpeed(abs(Rec_pwm2));
-
- if (Rec_dir1 == "+"){
- motorVertical_L->run(BACKWARD); // up
- }else if (Rec_dir1 == "-"){
- motorVertical_L->run(FORWARD); // down
- }
-
- if (Rec_dir2 == "+"){
- motorVertical_R->run(FORWARD);
- }else if (Rec_dir2 == "-"){
- motorVertical_R->run(BACKWARD);
- }
-
- // horizontal motor
- motorLeft->setSpeed(abs(Rec_pwm3));
- motorRight->setSpeed(abs(Rec_pwm4));
-
- if (Rec_dir3 == "+"){
- motorLeft->run(BACKWARD); // make it move forward
- }else if (Rec_dir3 == "-"){
- motorLeft->run(FORWARD); // make it move backward
- }
-
- if (Rec_dir4 == "+"){
- motorRight-> run(FORWARD); // make it move forward
- }else if (Rec_dir4 == "-"){
- motorRight-> run(BACKWARD); // make it move backward
- }
-
-}
-
-void print_received_Data(){
- if (print_count == 0){
- Serial.print("Rec_pwm1:");
- Serial.println(Rec_pwm1);
- Serial.print("Rec_pwm2:");
- Serial.println(Rec_pwm2);
- Serial.print("Rec_pwm3:");
- Serial.println(Rec_pwm3);
- Serial.print("Rec_pwm4:");
- Serial.println(Rec_pwm4);
- Serial.print("Rec_dir1:");
- Serial.println(Rec_dir1);
- Serial.print("Rec_dir2:");
- Serial.println(Rec_dir2);
- Serial.print("Rec_dir3:");
- Serial.println(Rec_dir3);
- Serial.print("Rec_dir4:");
- Serial.println(Rec_dir4);
-Serial.println("_________________________");
- }
- print_count +=1;
-}
-
-void send_var_once(){
- if(count_var==0){
- send_message();
- count_var+=1;
- }
-}
-
-void send_message_once(){
- if(count==0){
- send_message();
- count+=1;
- receivedData.DebugM = "";
- }
-}
-
-void send_message(){
- esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &receivedData, sizeof(receivedData));
- // esp_now_send(RxMACaddress, (uint8_t *) &sentData, sizeof(sentData));
- //-------------------------------------------------------------------------------------
- if (result == ESP_OK) {
- Serial.println("Sent with success");
- }
- else {
- Serial.println("Error sending the data");
- }
- //-------------------------------------------------------------------------------------
- delay(50); // delay 50 ms after send out the message
-}
+#include <esp_now.h>
+#include <WiFi.h>
+#include <Wire.h>
+#include <SparkFun_VL53L1X.h>
+#include <Arduino.h>
+
+#include "Camera.h"
+#include "utilities.h"
+#include <Adafruit_MotorShield.h>
+
+// REPLACE WITH THE MAC Address of your receiver (MASTER)
+// Slave: 40:F5:20:44:B6:4C
+// uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xCF, 0x00};
+uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
+String success;
+
+// Define variables to store incoming readings
+String sentDebugM = "";
+int Rec_pwm1;
+int Rec_pwm2;
+int Rec_pwm3;
+int Rec_pwm4;
+String Rec_dir1;
+String Rec_dir2;
+String Rec_dir3;
+String Rec_dir4;
+
+int count = 0;
+int count_var = 0;
+int print_count = 0;
+int change_count =0;
+int Lidar_flag = 0;
+
+// Define variables to be sent;
+int Sent_tx = 0;
+int Sent_ty = 0;
+int Sent_tz = 0;
+int Sent_rx = 0;
+int Sent_ry = 0;
+int Sent_rz = 0;
+int Sent_dist = 0;
+
+int8_t g1 = 0,g2=1,g3=2;
+int8_t goal_id[3] = {g1, g2, g3};
+
+// Define Lidar variables
+SFEVL53L1X distanceSensor;
+int budgetIndex = 4;
+int budgetValue[7] = {15, 20, 33, 50, 100, 200, 500};
+
+// Define LED variable
+int LED = LED_BUILTIN;
+
+// ==================================== data structure =================================================
+//Structure the sending data
+//Must match the receiver structure
+typedef struct struct_message {
+ int Rtx;
+ int Rty;
+ int Rtz;
+ int Rrx;
+ int Rry;
+ int Rrz;
+ int Rdist;
+ String DebugM;
+ int Spwm1;
+ int Spwm2;
+ int Spwm3;
+ int Spwm4;
+ String Sdir1;
+ String Sdir2;
+ String Sdir3;
+ String Sdir4;
+} struct_message;
+// Create a struct_message to hold incoming sensor readings
+// struct_message incomingReadings;
+struct_message receivedData;
+
+// =================================== send and received function =====================================
+// Callback when data is sent
+void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
+ Serial.print("\r\nLast Packet Send Status:\t");
+ Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
+ if (status ==0){
+ success = "Delivery Success :)";
+ }
+ else{
+ success = "Delivery Fail :(";
+ }
+}
+
+// Callback when data is received
+void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
+ memcpy(&receivedData, incomingData, sizeof(receivedData));
+ // the data format: 225 225 225 225 + + - -
+ // + up / forward
+ // - down / backward
+ Rec_pwm1 = receivedData.Spwm1;
+ Rec_pwm2 = receivedData.Spwm2;
+ Rec_pwm3 = receivedData.Spwm3;
+ Rec_pwm4 = receivedData.Spwm4;
+ Rec_dir1 = receivedData.Sdir1;
+ Rec_dir2 = receivedData.Sdir2;
+ Rec_dir3 = receivedData.Sdir3;
+ Rec_dir4 = receivedData.Sdir4;
+ count_var = 0;
+ count = 0;
+ print_count=0;
+ change_count = 0;
+}
+
+// =============================== All the setup ===========================================
+//Create the interface that will be used by the camera
+openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
+openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument
+Camera cam(&interface);
+// ========================== Motor part ====================================
+// Create the motor shield object with the default I2C address
+Adafruit_MotorShield AFMS = Adafruit_MotorShield();
+// changed
+Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1); // pwm1
+Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2); // pwm2
+Adafruit_DCMotor *motorLeft = AFMS.getMotor(3); // pwm3
+Adafruit_DCMotor *motorRight = AFMS.getMotor(4); // pwm4
+// ==================================== Set up =================================================
+void setup() {
+ // Init Serial Monitor
+ Serial.begin(115200);
+ Wire.begin();
+ interface.begin(); //communication between ESP and OpenMV
+ AFMS.begin(); // create with the default frequency 1.6KHz
+ // -------------- LED part --------------------
+ pinMode(LED, OUTPUT);
+ digitalWrite(LED, HIGH);
+ digitalWrite(LED, LOW);
+
+ // -------------- lidar part --------------------
+ if (distanceSensor.begin() == 0){
+ Serial.println("Sensor online!");
+ Lidar_flag = 1;
+ }else {
+ Lidar_flag = 0;
+ }
+
+ distanceSensor.startRanging();
+ distanceSensor.setIntermeasurementPeriod(budgetValue[budgetIndex]);
+
+ // --------------------------- esp now ---------------------------
+ // Set device as a Wi-Fi Station
+ WiFi.mode(WIFI_STA);
+
+ // Init ESP-NOW
+ if (esp_now_init() != ESP_OK) {
+ Serial.println("Error initializing ESP-NOW");
+ return;
+ }
+
+ // Once ESPNow is successfully Init, we will register for Send CB to
+ // get the status of Trasnmitted packet
+ esp_now_register_send_cb(OnDataSent);
+
+ // Register peer
+ esp_now_peer_info_t peerInfo;
+ memcpy(peerInfo.peer_addr, broadcastAddress, 6);
+ peerInfo.channel = 0;
+ peerInfo.encrypt = false;
+
+ // Add peer
+ if (esp_now_add_peer(&peerInfo) != ESP_OK){
+ Serial.println("Failed to add peer");
+ return;
+ }
+ // Register for a callback function that will be called when data is received
+ esp_now_register_recv_cb(OnDataRecv);
+
+}
+
+// ================================== Main loop ===================================================
+void loop()
+{
+ //-------------------------------------------------------------------------------------
+ // ========== goal finder =========
+ int id = -1;
+ int tx = 0; int ty = 0; int tz = 0;
+ int rx = 0; int ry = 0; int rz = 0;
+ int x = 0;
+ int y = 0;
+ bool goalfind_flag = 0;
+
+ goalfind_flag = cam.exe_goalfinder(goal_id[0],goal_id[1],goal_id[2], id, tx, ty, tz, rx, ry, rz);
+ if (goalfind_flag){
+ Sent_tx = tx;
+ Sent_ty = ty;
+ Sent_tz = tz; // cm
+ Sent_rx = rx;
+ Sent_ry = ry;
+ Sent_rz = rz;
+ }else{
+ Sent_tx = 0;
+ Sent_ty = 0;
+ Sent_tz = 0; // cm
+ Sent_rx = 0;
+ Sent_ry = 0;
+ Sent_rz = 0;
+ }
+ if (Lidar_flag == 1){
+ Sent_dist = distanceSensor.getDistance(); // Lidar distance (use the real Lidar data)
+ }else {
+ Sent_dist = 0;
+ }
+ // ========== lidar state info =========
+ if (Sent_dist < 300 && Sent_dist < 0){
+ receivedData.DebugM = "found b";
+ }else{
+ receivedData.DebugM = "no b";
+ }
+ // ========== send info =========
+ receivedData.Rtx = Sent_tx;
+ receivedData.Rty = Sent_ty;
+ receivedData.Rtz = Sent_tz;
+ receivedData.Rrx = Sent_rx;
+ receivedData.Rry = Sent_ry;
+ receivedData.Rrz = Sent_rz;
+ receivedData.Rdist = Sent_dist;
+ send_var_once();
+ print_received_Data();
+
+ //-------------------------------------------------------------------------------------
+ control_motion();
+ //-------------------------------------------------------------------------------------
+}
+// ================================== ^ Main loop ^ ===================================================
+void control_motion(){
+ // vertical motor
+ motorVertical_L->setSpeed(abs(Rec_pwm1));
+ motorVertical_R->setSpeed(abs(Rec_pwm2));
+
+ if (Rec_dir1 == "+"){
+ motorVertical_L->run(BACKWARD); // up
+ }else if (Rec_dir1 == "-"){
+ motorVertical_L->run(FORWARD); // down
+ }
+
+ if (Rec_dir2 == "+"){
+ motorVertical_R->run(FORWARD);
+ }else if (Rec_dir2 == "-"){
+ motorVertical_R->run(BACKWARD);
+ }
+
+ // horizontal motor
+ motorLeft->setSpeed(abs(Rec_pwm3));
+ motorRight->setSpeed(abs(Rec_pwm4));
+
+ if (Rec_dir3 == "+"){
+ motorLeft->run(BACKWARD); // make it move forward
+ }else if (Rec_dir3 == "-"){
+ motorLeft->run(FORWARD); // make it move backward
+ }
+
+ if (Rec_dir4 == "+"){
+ motorRight-> run(FORWARD); // make it move forward
+ }else if (Rec_dir4 == "-"){
+ motorRight-> run(BACKWARD); // make it move backward
+ }
+
+}
+
+void print_received_Data(){
+ if (print_count == 0){
+ Serial.print("Rec_pwm1:");
+ Serial.println(Rec_pwm1);
+ Serial.print("Rec_pwm2:");
+ Serial.println(Rec_pwm2);
+ Serial.print("Rec_pwm3:");
+ Serial.println(Rec_pwm3);
+ Serial.print("Rec_pwm4:");
+ Serial.println(Rec_pwm4);
+ Serial.print("Rec_dir1:");
+ Serial.println(Rec_dir1);
+ Serial.print("Rec_dir2:");
+ Serial.println(Rec_dir2);
+ Serial.print("Rec_dir3:");
+ Serial.println(Rec_dir3);
+ Serial.print("Rec_dir4:");
+ Serial.println(Rec_dir4);
+Serial.println("_________________________");
+ }
+ print_count +=1;
+}
+
+void send_var_once(){
+ if(count_var==0){
+ send_message();
+ count_var+=1;
+ }
+}
+
+void send_message_once(){
+ if(count==0){
+ send_message();
+ count+=1;
+ receivedData.DebugM = "";
+ }
+}
+
+void send_message(){
+ esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &receivedData, sizeof(receivedData));
+ // esp_now_send(RxMACaddress, (uint8_t *) &sentData, sizeof(sentData));
+ //-------------------------------------------------------------------------------------
+ if (result == ESP_OK) {
+ Serial.println("Sent with success");
+ }
+ else {
+ Serial.println("Error sending the data");
+ }
+ //-------------------------------------------------------------------------------------
+ delay(50); // delay 50 ms after send out the message
+}
diff --git a/Code/Control/Laptop_Code/ESP32_slave/New Text Document.txt b/Code/Control/Laptop_Code/ESP32_slave/New Text Document.txt
new file mode 100644
index 0000000..e69de29
diff --git a/Code/Control/Laptop_Code/ball_detection/distance-detection-torch/__pycache__/distance-detection-torch.cpython-38.pyc b/Code/Control/Laptop_Code/ball_detection/distance-detection-torch/__pycache__/distance-detection-torch.cpython-38.pyc
index 27224b96dea1a0e479427d1d2c7098432f587093..06f3a4090cab1824747125e7eb748088c17a673f 100644
GIT binary patch
delta 19
ZcmX@AcT|rnl$V!_0SNRyZsf8S2LLh(1eO2*
delta 19
ZcmX@AcT|rnl$V!_0SJU%Zsf8S2LLfT1abfX
diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py
index c4aae16..be949ed 100644
--- a/Code/Control/Laptop_Code/constants.py
+++ b/Code/Control/Laptop_Code/constants.py
@@ -30,13 +30,12 @@ Bmin = 31
Bmax = 127
threshold = [Lmin, Lmax, Amin, Amax, Bmin, Bmax]
-base_speed = 70
+base_speed = 30
seeking_speed = 70
LIDAR_Thres = 300 # mm
-base_speed = 70
# PID Control
-kdx,kix,kpx = 2,0.1,0.25
-kdy,kiy,kpy = 1,0.1,0.25
+kpx,kix,kdx = 0.7, 0.01, 0.25
+kpy,kiy,kdy = 0.5, 0.01, 0.25
diff --git a/Code/Control/Laptop_Code/main.py b/Code/Control/Laptop_Code/main.py
index afc2681..2a51fa0 100644
--- a/Code/Control/Laptop_Code/main.py
+++ b/Code/Control/Laptop_Code/main.py
@@ -158,9 +158,10 @@ def seeking():
pwm1, pwm2, pwm3, pwm4
dir1, dir2, dir3, dir4
"""
- pass
- # return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , seeking_speed , seeking_speed
+ dir1, dir2, dir3, dir4 = '+', '+', '+', '-'
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
def move2ball(gbx,gby,gb_dist):
"""
@@ -258,7 +259,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
if goalDetect: # Goal detected
pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2goal(tx, ty)
- else: # Goal not detectedpwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 =
+ else: # Goal not detectedpwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 =
pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
else: # Ball not captured
if ballDetect: # Ball detected
diff --git a/Code/Control/Laptop_Code/main_zhiying_catchBall_test_2in1.py b/Code/Control/Laptop_Code/main_zhiying_catchBall_test_2in1.py
new file mode 100644
index 0000000..175bdc2
--- /dev/null
+++ b/Code/Control/Laptop_Code/main_zhiying_catchBall_test_2in1.py
@@ -0,0 +1,371 @@
+import time
+import serial
+import ball_detection.ball_detection as ball_detection
+import simple_pid.PID as PID
+import timeit
+
+
+from constants import *
+
+# ========= Serial Port I/O ===========
+
+def serial_port_in(serial_port):
+ '''
+ Description:
+ Take all ESP32_Master serial port's printIn and take all necessary input object
+
+ Input:
+ serial_port : serial.Serail object
+
+ Output:
+ tx, ty, tz, rx, ry, rz, LIDAR_dist, DebugM
+ '''
+
+ # DEBUG Verbose
+ print("initiating one round of serial in ...")
+
+ for i in range(7):
+ line = serial_port.readline()
+ val = int(line.decode())
+
+ if i == 0:
+ tx = val
+ elif i == 1:
+ ty = val
+ elif i == 2:
+ tz = val
+ elif i == 3:
+ rx = val
+ elif i == 4:
+ ry = val
+ elif i == 5:
+ rz = val
+ elif i == 6:
+ LIDAR_dist = val
+
+ line = serial_port.readline()
+ debugM = line.decode()
+
+ # DEBUG Verbose
+ print("tx:{}".format(tx))
+ print("ty:{}".format(ty))
+ print("tz:{}".format(tz))
+ print("rx:{}".format(rx))
+ print("ry:{}".format(ry))
+ print("rz:{}".format(rz))
+ print("dist:{}".format(LIDAR_dist))
+ print(debugM)
+
+ return tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM
+
+
+def serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4):
+ '''
+ Description:
+ Feed to ESP32_Master to send ESP32_Slave necessary information
+ the format of sending is pwm are 3 digit space
+
+ Input:
+ serial_port : serial.Serail object
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 : variables to send
+
+ Output:
+ None
+ '''
+
+ output_message = ''
+
+ for pwm_itr in [pwm1, pwm2, pwm3, pwm4]:
+ # print(pwm_itr)
+ if len(str(pwm_itr)) == 2:
+ output_message += '0'
+ elif len(str(pwm_itr)) == 1:
+ output_message += '00'
+ output_message += str(pwm_itr)
+ print(pwm_itr)
+
+ output_message = output_message + dir1 + dir2 + dir3 + dir4 + '\n'
+ print("serial out ...")
+ print(output_message)
+ serial_port.write(output_message.encode())
+
+ # DEBUG Verbose
+
+
+
+
+
+# ====== supporting function in main control ====
+def ball_detect(gbx, gby):
+ '''
+ return True if green ball is detected
+ '''
+ if gbx == -1 and gby == -1:
+ return False
+ else:
+ return True
+
+def goal_detect(tx,ty):
+ '''
+ return True if April Tag is detected
+ '''
+ if tx == 0 and ty == 0:
+ return False
+ else:
+ return True
+
+def ball_capture(LIDAR_dist):
+ '''
+ return True if April Tag is detected
+ '''
+ if (LIDAR_dist < LIDAR_Thres) and (LIDAR_dist > 0): # Ball captured
+ return True
+ else:
+ return False
+
+def stop_all():
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+ dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+ return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+def move2goal(tx, ty):
+ """
+ Description:
+ Given the center of the AT tx, ty. Call PID control to output the blimp
+ motor to manuver to the goal
+
+ Input:
+ tx : x component, center of April Tag
+ ty : y component, center of Aprol Tag
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4
+ dir1, dir2, dir3, dir4
+ """
+ pass
+
+ # return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+
+def seeking():
+ """
+ Description:
+ By default, when there ball is not determined capture, the manuver of the
+ motors to have it scan its surronding 360 degrees
+
+ Input:
+ none
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4
+ dir1, dir2, dir3, dir4
+ """
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , seeking_speed , seeking_speed
+ dir1, dir2, dir3, dir4 = '+', '+', '+', '-'
+
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+def move2ball(gbx, gby, gb_dist):
+ """
+ Description:
+ Given the center of x y dist of green ball detected. Call PID control to
+ output the blimp motor to manuver to the green ball
+
+ Input:
+ gbx : x component, center of green ball
+ gby : y component, center of green ball
+ gb_dist : distance to green ball
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4
+ dir1, dir2, dir3, dir4
+ """
+ inputx = gbx / 1.00
+ inputy = gby / 1.00
+
+ setpoint_x = 400
+ setpoint_y = 300 # ESP 32 Cam Center
+
+ pid_x = PID(kpx,kix,kdx,setpoint=setpoint_x)
+ pid_y = PID(kpy,kiy,kdy,setpoint=setpoint_y)
+
+
+ pid_x.auto_mode = True
+ pid_x.set_auto_mode(True, last_output=8.0)
+ pid_x.output_limits = (-255,255)
+ pid_y.output_limits = (-255,255)
+
+
+ outputx = pid_x(inputx)
+ outputy = pid_y(inputy)
+
+ # vertical
+ pwm1 = abs(outputy)
+ pwm2 = abs(outputy)
+
+ if(outputy > 0):
+ dir1 = '+'
+ dir2 = '+'
+ else:
+ dir1 = '-'
+ dir2 = '-'
+
+ # horizontal
+ lspeed = -1 * outputx + base_speed
+ rspeed = 1 * outputx + base_speed
+ pwm3 = min( abs(lspeed), 255)
+ pwm4 = min( abs(rspeed), 255)
+ if (lspeed > 0):
+ dir3 = '+'
+ else:
+ dir3 = '-'
+
+ if (rspeed > 0):
+ dir4 = '+'
+ else:
+ dir4 = '-'
+
+
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+
+# =========== main control ===========
+
+def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
+ '''
+ Description:
+ Given green ball information and AT information, the main control logic
+ to manuver the blimp motors
+
+ Input:
+ gbx, gby, gb_dist : green ball information
+ tx, ty, tz, rx, ry, rz, LIDAR_dist : AirTag information
+ debugM : Debug Message
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 : Blimp motor manuver parameters
+ '''
+
+ # placeholder
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+ dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+
+ ballDetect = ball_detect(gbx, gby)
+ ballCapture = ball_capture(LIDAR_dist)
+ goalDetect = goal_detect(tx,ty)
+ # debug
+ ballCapture = 0
+ if ballCapture: # Ball captured
+ if goalDetect: # Goal detected
+ stop_all()
+ #pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2goal(tx, ty)
+ else: # Goal not detected
+ stop_all()
+ #pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+ else: # Ball not captured
+ if ballDetect: # Ball detected
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2ball(gbx,gby,gb_dist)
+ else: # Ball not detected
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+
+ return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+
+
+# ===== Main Functions =====
+
+if __name__ == '__main__':
+ # =========== SET UP ============
+ # Defining Variables for ESP 32 Serial I/O
+ PORT = "COM6" # for Alienware
+ serial_port = serial.Serial(PORT, 115200)
+ serial_port.close()
+ serial_port.open()
+
+ # Weit Time
+ waitTime = 0.1
+
+ # Loading the PyTorch ML model for ball detection
+ model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
+ #model = ball_detection.returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+
+
+ # =========== DECLARE VARIABLES ===========
+ # ESP CAM In
+ gbx, gby = -1, -1 # by default (-1 means no found green ball)
+ gb_dist = -1 # by default (-1 means no found green ball)
+
+ # Serial Port In
+ tx, ty, tz = 0, 0, 0 # by default (0 means no found AirTag)
+ rx, ry, rz = 0, 0, 0
+ LIDAR_dist = 0
+ debugM = 'Testing'
+
+ # Serial Port Out
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0 # Not moving
+ dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
+
+ count = 0
+ flg = 0
+ # =========== LOOP FOREVER===========
+ while True:
+
+ gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ # print("gbx,gby:{},{}".format(gbx,gby))
+ # tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM = serial_port_in(serial_port)
+
+ # ===== STEP 2: MAIN CONTROL LOOP =====
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+
+ # ===== STEP 3: FEED ALL OUTPUT =====
+ serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+
+ time.sleep(0.1)
+
+ """
+ line = serial_port.readline()
+ if line == b'SERIAL_IN_START\r\n':
+ # start = time.time()
+ # print('I have been there')
+ # ===== STEP 1: TAKE ALL INPUT =====
+ gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ # print("gbx,gby:{},{}".format(gbx,gby))
+ tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM = serial_port_in(serial_port)
+
+ # ===== STEP 2: MAIN CONTROL LOOP =====
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+
+ # ===== STEP 3: FEED ALL OUTPUT =====
+ serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+
+
+ # end = time.time()
+ # print("time:")
+ # print(end - start)
+ if count == 0:
+ # first time calling (call once)
+ print("bbb")
+ 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)
+ count +=1
+ """
+
+ """
+ if flg == 1:
+ print("1")
+ output_message = '100100000000+-++' + '\n'
+ serial_port.write(output_message.encode())
+
+ flg = 0
+ time.sleep(0.3)
+ elif flg == 0:
+ print("2")
+ output_message = '000000000000+-++' + '\n'
+ serial_port.write(output_message.encode())
+ flg = 1
+ time.sleep(0.3)
+ """
+
+ # time.sleep(waitTime)
diff --git a/Code/Control/Laptop_Code/main_zhiying_seeking_indv_test.py b/Code/Control/Laptop_Code/main_zhiying_seeking_indv_test.py
index 461b8ca..cfd5faa 100644
--- a/Code/Control/Laptop_Code/main_zhiying_seeking_indv_test.py
+++ b/Code/Control/Laptop_Code/main_zhiying_seeking_indv_test.py
@@ -157,8 +157,11 @@ def seeking():
pwm1, pwm2, pwm3, pwm4
dir1, dir2, dir3, dir4
"""
- pass
- # return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+ #pwm1, pwm2, pwm3, pwm4 = 0 , 0 , seeking_speed , seeking_speed
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 70, 70
+ dir1, dir2, dir3, dir4 = '+', '+', '+', '-'
+
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
def move2ball(gbx, gby, gb_dist):
@@ -268,8 +271,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
if ballDetect: # Ball detected
pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2ball(gbx,gby,gb_dist)
else: # Ball not detected
- stop_all()
- #pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
@@ -311,7 +313,7 @@ if __name__ == '__main__':
count = 0
# =========== LOOP FOREVER===========
while True:
- gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ #gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
print("gbx,gby:{},{}".format(gbx,gby))
line = serial_port.readline()
--
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