From 4454b17e18817e4da1967f9d08f1d0878964da87 Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Mon, 8 Nov 2021 12:09:29 -0800
Subject: [PATCH] test and manul_in_auto function and fixed other bugs in test
function
---
Code/Control/Laptop_Code/main_keyboard.py | 19 +++++++++++++++++--
1 file changed, 17 insertions(+), 2 deletions(-)
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index 373ec09..aeb9e42 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -6,7 +6,7 @@ import timeit
import pygame
from constants import *
from ESP32_AT.imageTread_AT import get_AT_6DOF_info
-
+import cv2
global ml,esp_cam_on,openmv_on
AT_detected_time = time.time()
@@ -648,7 +648,7 @@ def test_function():
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)
-
+
print("testing new function")
print("-----------------------")
print("tid:{}".format(tid))
@@ -665,7 +665,18 @@ 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,flag):
+ if get_key('m'):
+ flag = 12
+ while (flag == 12):
+ manual_control(Ctl_com,serial_port)
+ flag = manual_return2auto('r',flag)
+ return flag
+def manual_return2auto(key_press,flag_r):
+ if get_key(key_press):
+ flag_r = 1
+ return flag_r
# ===== Main Function =====
if __name__ == '__main__':
@@ -723,6 +734,8 @@ 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)
flag, print_count = keyboard_stop(flag,print_count)
+ flag = manual_in_auto(Ctl_com,serial_port,flag)
+
elif get_key('s'):
pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = stop_all()
serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
@@ -747,6 +760,8 @@ if __name__ == '__main__':
test_function()
flag, print_count = keyboard_stop(flag, print_count)
+ cv2.destroyAllWindows()
+
elif get_key('k'):
break
--
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