From 2ead93d027f1870c9ddef33b2f8983d15ed29429 Mon Sep 17 00:00:00 2001
From: Aaron John Sabu <aaronjohnsabu1999@gmail.com>
Date: Sun, 7 Nov 2021 18:13:17 -0800
Subject: [PATCH] Modified code closer to perfection
---
.../Laptop_Code/ESP32_slave/ESP32_slave.ino | 4 ++--
.../ball_detection/ball_detection.py | 4 ++--
.../ESP32_master/ESP32_master.ino | 6 +++---
Code/Control/Laptop_Code/constants.py | 3 +--
.../Laptop_Code/imageThread_AT_gb_1_6.py | 4 ++--
Code/Control/Laptop_Code/main_keyboard.py | 19 +++++++++----------
6 files changed, 19 insertions(+), 21 deletions(-)
diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
index d036e5c..ccf46dc 100644
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
@@ -18,10 +18,10 @@
// REPLACE WITH THE MAC Address of your receiver (MASTER)
// Slave: 40:F5:20:44:B6:4C
// MAC Address of the receiver (MASTER)
-// uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
+uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
-uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC0, 0xD8}; // #5
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
diff --git a/Code/Control/Laptop_Code/ball_detection/ball_detection.py b/Code/Control/Laptop_Code/ball_detection/ball_detection.py
index 8e8f45f..ee6c987 100644
--- a/Code/Control/Laptop_Code/ball_detection/ball_detection.py
+++ b/Code/Control/Laptop_Code/ball_detection/ball_detection.py
@@ -33,10 +33,10 @@ def modifyCore():
cAddLineNums = [254, 256, 257, 258, 259]
# REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
- coreFile = 'C:\\Users\\uclal\\.conda\\envs\\foray2\\Lib\\site-packages\\detecto\\core.py'
+ coreFile = 'C:\\Users\\aaronjs\\.conda\\envs\\FORAYenv\\Lib\\site-packages\\detecto\\core.py'
cModLineVals = [" def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
- " # Load a model pre-trained on COCO - User-Modified",
+ " # Load a model pre-trained on COCO - User-Modified\n",
" self._model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=pretrained)\n"]
cAddLineVals = [" if modelname == \'fasterrcnn_resnet50_fpn\':\n",
" elif modelname == \'fasterrcnn_mobilenet_v3_large_fpn\':\n",
diff --git a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
index 1d65bb9..19c4fbe 100644
--- a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
+++ b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
@@ -5,12 +5,12 @@
// ==================================== broadcast address ============================================
// MAC Address of the receiver (SLAVE)
//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
-uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC0, 0xD8}; // #5
-//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
-// uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
+uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
+//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x9B, 0x04, 0x98}; // #8
// ==================================== global data =================================================
String success;
diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py
index add5d84..4bf80a3 100644
--- a/Code/Control/Laptop_Code/constants.py
+++ b/Code/Control/Laptop_Code/constants.py
@@ -59,5 +59,4 @@ kph,kih,kdh = 1.2,0.01,0.5
AT_detectBreak = 60
-
-url_gb = 'http://10.0.0.5/cam-hi.jpg' #01
+url_gb = 'http://10.0.0.4/cam-hi.jpg' # 6
\ No newline at end of file
diff --git a/Code/Control/Laptop_Code/imageThread_AT_gb_1_6.py b/Code/Control/Laptop_Code/imageThread_AT_gb_1_6.py
index c38b498..6985314 100644
--- a/Code/Control/Laptop_Code/imageThread_AT_gb_1_6.py
+++ b/Code/Control/Laptop_Code/imageThread_AT_gb_1_6.py
@@ -11,8 +11,8 @@ import cv2
if __name__ == "__main__":
- url_AT = 'http://10.0.0.9/cam-hi.jpg' #6
- url_gb = 'http://10.0.0.5/cam-hi.jpg' #1
+ url_AT = 'http://10.0.0.5/cam-hi.jpg' #1
+ url_gb = 'http://10.0.0.9/cam-hi.jpg' #6
tid,tx,ty,tz,rx,ry,rz = 0,0,0,0,0,0,0
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index 606537b..2911a2a 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -479,7 +479,7 @@ def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_di
if esp_cam_on == 1:
- url = 'http://192.168.0.204/cam-hi.jpg'
+ url = 'http://10.0.0.5/cam-hi.jpg' # 1
tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url)
LIDAR_dist1 = 0
LIDAR_dist2 = 0
@@ -487,8 +487,7 @@ def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_di
# ===== 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_dist1, LIDAR_dist2,
- debugM, count_h,bcap_man)
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_dist2, debugM, count_h,bcap_man)
# ===== STEP 3: FEED ALL OUTPUT =====
serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
@@ -655,8 +654,8 @@ def get_altitude_from_AT(AT_h,ty):
def test_function():
- url_AT = 'http://10.0.0.4/cam-hi.jpg' # 6
- url_gb = 'http://10.0.0.5/cam-hi.jpg' # 1
+ url_AT = 'http://10.0.0.5/cam-hi.jpg' # 1
+ url_gb = 'http://10.0.0.4/cam-hi.jpg' # 6
tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url_AT)
gbx, gby, gb_dist = ball_detection.detectLive(url_gb, model, minDetectionScore, showSight=True)
@@ -678,15 +677,15 @@ def test_function1():
print("tx,ty,tz:{},{},{}".format(tx,ty,tz))
print("rx,ry,rz:{},{},{}".format(rx,ry,rz))
-def manual_in_auto(Ctl_com, serial_port):
+def manual_in_auto(Ctl_com, serial_port, flag):
if get_key('m'):
flag = 12
while (flag == 12):
manual_control(Ctl_com, serial_port)
- flag = manual_return2auto('r')
+ flag = manual_return2auto('r',flag)
return flag
-def manual_return2auto(key_press):
+def manual_return2auto(key_press,flag_r):
if get_key(key_press):
flag_r = 1
return flag_r
@@ -704,7 +703,7 @@ def manual_ballcapture(bcap_man):
if __name__ == '__main__':
# =========== SET UP ============
# Defining Variables for ESP 32 Serial I/O
- PORT = "COM4" # for Alienware
+ PORT = "COM11" # for Alienware
serial_port = serial.Serial(PORT, 115200)
serial_port.close()
serial_port.open()
@@ -757,7 +756,7 @@ if __name__ == '__main__':
print('auto_control')
auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_dist2, debugM,count_h,bcap_man)
flag, print_count = keyboard_stop(flag,print_count)
- flag = manual_in_auto(Ctl_com, serial_port)
+ flag = manual_in_auto(Ctl_com, serial_port, flag)
bcap_man = manual_ballcapture(bcap_man)
elif get_key('s'):
--
GitLab