From 4a4d146c443bf22e2e03193d09490b8c3929dc9d Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Mon, 8 Nov 2021 00:30:28 -0800
Subject: [PATCH] modify conditions in the keyboard code to make all function
work
---
Code/Control/Laptop_Code/main_keyboard.py | 22 +++++++++++-----------
1 file changed, 11 insertions(+), 11 deletions(-)
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index d143639..70dc342 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -8,9 +8,9 @@ from constants import *
from ESP32_AT.imageTread_AT import get_AT_6DOF_info
global ml,esp_cam_on,openmv_on
-ml = 0
+ml = 1
esp_cam_on = 1
-openmv_on = 0
+openmv_on = 1
seekVertDir = 1
AT_detected_time = time.time()
if ml == 1:
@@ -33,7 +33,7 @@ def serial_port_in_v1(serial_port):
# DEBUG Verbose
print("initiating one round of serial in ...")
- for i in range(7):
+ for i in range(8):
line = serial_port.readline()
val = int(line.decode())
@@ -51,10 +51,10 @@ def serial_port_in_v1(serial_port):
rz = val
elif i == 6:
LIDAR_dist1 = val
- # elif i == 7:
- # LIDAR_dist2 = val
+ elif i == 7:
+ LIDAR_dist2 = val
- LIDAR_dist2 = 0
+ # LIDAR_dist2 = 0
line = serial_port.readline()
debugM = line.decode()
@@ -435,7 +435,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_d
ballCapture = 0
# debug
- ballCapture = 1
+ # ballCapture = 1
# goalDetect = 0
# ballDetect = 0
if ballCapture: # Ball captured
@@ -473,10 +473,10 @@ 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://10.0.0.3/cam-hi.jpg'
tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url)
- LIDAR_dist1 = 0
- LIDAR_dist2 = 0
+ #LIDAR_dist1 = 0
+ # LIDAR_dist2 = 0
debugM = "using two esp32 cam"
@@ -673,7 +673,7 @@ def test_function1():
if __name__ == '__main__':
# =========== SET UP ============
# Defining Variables for ESP 32 Serial I/O
- PORT = "COM9" # for Alienware
+ PORT = "COM6" # for Alienware
serial_port = serial.Serial(PORT, 115200)
serial_port.close()
serial_port.open()
--
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