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Commit 4a4d146c authored by Zhiying Li's avatar Zhiying Li
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modify conditions in the keyboard code to make all function work

parent ccd7cba1
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...@@ -8,9 +8,9 @@ from constants import * ...@@ -8,9 +8,9 @@ from constants import *
from ESP32_AT.imageTread_AT import get_AT_6DOF_info from ESP32_AT.imageTread_AT import get_AT_6DOF_info
global ml,esp_cam_on,openmv_on global ml,esp_cam_on,openmv_on
ml = 0 ml = 1
esp_cam_on = 1 esp_cam_on = 1
openmv_on = 0 openmv_on = 1
seekVertDir = 1 seekVertDir = 1
AT_detected_time = time.time() AT_detected_time = time.time()
if ml == 1: if ml == 1:
...@@ -33,7 +33,7 @@ def serial_port_in_v1(serial_port): ...@@ -33,7 +33,7 @@ def serial_port_in_v1(serial_port):
# DEBUG Verbose # DEBUG Verbose
print("initiating one round of serial in ...") print("initiating one round of serial in ...")
for i in range(7): for i in range(8):
line = serial_port.readline() line = serial_port.readline()
val = int(line.decode()) val = int(line.decode())
...@@ -51,10 +51,10 @@ def serial_port_in_v1(serial_port): ...@@ -51,10 +51,10 @@ def serial_port_in_v1(serial_port):
rz = val rz = val
elif i == 6: elif i == 6:
LIDAR_dist1 = val LIDAR_dist1 = val
# elif i == 7: elif i == 7:
# LIDAR_dist2 = val LIDAR_dist2 = val
LIDAR_dist2 = 0 # LIDAR_dist2 = 0
line = serial_port.readline() line = serial_port.readline()
debugM = line.decode() debugM = line.decode()
...@@ -435,7 +435,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_d ...@@ -435,7 +435,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_d
ballCapture = 0 ballCapture = 0
# debug # debug
ballCapture = 1 # ballCapture = 1
# goalDetect = 0 # goalDetect = 0
# ballDetect = 0 # ballDetect = 0
if ballCapture: # Ball captured 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 ...@@ -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: 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) tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url)
LIDAR_dist1 = 0 #LIDAR_dist1 = 0
LIDAR_dist2 = 0 # LIDAR_dist2 = 0
debugM = "using two esp32 cam" debugM = "using two esp32 cam"
...@@ -673,7 +673,7 @@ def test_function1(): ...@@ -673,7 +673,7 @@ def test_function1():
if __name__ == '__main__': if __name__ == '__main__':
# =========== SET UP ============ # =========== SET UP ============
# Defining Variables for ESP 32 Serial I/O # Defining Variables for ESP 32 Serial I/O
PORT = "COM9" # for Alienware PORT = "COM6" # for Alienware
serial_port = serial.Serial(PORT, 115200) serial_port = serial.Serial(PORT, 115200)
serial_port.close() serial_port.close()
serial_port.open() serial_port.open()
......
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