diff --git a/Code/Control/Laptop_Code/previous_high_level/main_keyboard.py b/Code/Control/Laptop_Code/previous_high_level/main_keyboard.py
deleted file mode 100644
index ce27fa6b8eae25e1b900a181115529b711b5b544..0000000000000000000000000000000000000000
--- a/Code/Control/Laptop_Code/previous_high_level/main_keyboard.py
+++ /dev/null
@@ -1,548 +0,0 @@
-import time
-import serial
-import pygame
-import simple_pid.PID as PID
-import cv2
-
-from constants import *
-
-global ml
-ml = 1
-if ml == 1:
- import ball_detection.ball_detection as ball_detection
-
-# ========= 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())
-
-
-# ====== Logic-directing Functions ====
-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
- """
- inputx = tx / 1.00
- inputy = -1.00 * (ty + AT_goal_Delta) / 1.00 #
-
- # April Tag Center
- setpoint_x1 = 0.0
- setpoint_y1 = 0.0
-
- pid_x = PID(kdx_g, kix_g, kpx_g, setpoint = setpoint_x1)
- pid_y = PID(kdx_g, kiy_g, kpy_g, setpoint = setpoint_y1)
-
- 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 = abs(lspeed)
- pwm4 = abs(rspeed)
- 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
-
-
-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
-
- # ESP-Cam Center
- setpoint_x = 400
- setpoint_y = 300
-
- 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)
- ballCapture = 1
- if ballCapture: # Ball captured
- if goalDetect: # Goal detected
- # stop_all() # Debug
- pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2goal(tx, ty)
- else: # Goal not detected
- # stop_all() # Debug
- 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
- # stop_all() # Debug
- pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
-
- return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
-
-# ============= keyboard interruption ===================
-
-def init():
- pygame.init()
- win= pygame.display.set_mode((200,200))
-
-def keyboard_stop(flag_s,print_count_s):
-
- if get_key('q'):
- flag_s = 0
- print_count_s = 1
- return flag_s,print_count_s
-
-def get_key(keyname):
- ans = False
- for eve in pygame.event.get(): pass
- keyInput = pygame.key.get_pressed()
- myKey = getattr(pygame,'K_{}'.format(keyname))
-
- if keyInput[myKey]:
- ans = True
- pygame.display.update()
- return ans
-
-def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
- # ===== STEP 1: TAKE ALL INPUT =====
- # gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
- line = serial_port.readline()
-
- if line == b'SERIAL_IN_START\r\n':
- tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM = serial_port_in(serial_port)
- print("gbx,gby:{},{}".format(gbx, gby))
- time.sleep(waitTime)
-
- # ===== 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(waitTime)
-
-def decode_ctl(Ctl_com):
- pwm1 = Ctl_com[0]
- pwm2 = Ctl_com[1]
- pwm3 = Ctl_com[2]
- pwm4 = Ctl_com[3]
- dir1 = Ctl_com[4]
- dir2 = Ctl_com[5]
- dir3 = Ctl_com[6]
- dir4 = Ctl_com[7]
- return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
-
-def manual_command(val1,val2,val3,val4,sign1,sign2,sign3,sign4):
- pwm1 = val1
- pwm2 = val2
- pwm3 = val3
- pwm4 = val4
- dir1 = sign1
- dir2 = sign2
- dir3 = sign3
- dir4 = sign4
- return pwm1,pwm2,pwm3,pwm4,dir1,dir2,dir3,dir4
-
-def manual_control(Ctl_com,serial_port):
-
- if get_key("w"):
- val = start_speed
- Ctl_com = manual_command(val, val, 0, 0, "+", "+", "+", "+")
-
- elif get_key("s"):
- val = start_speed
- Ctl_com = manual_command(val, val, 0, 0, "-", "-", "+", "+")
-
- if get_key("UP"):
- val = start_speed
-
- Ctl_com = manual_command(0, 0, val, val, "+", "+", "+", "+")
- elif get_key("DOWN"):
- val = start_speed
- Ctl_com = manual_command(0, 0, val, val, "+", "+", "-", "-")
-
- elif get_key("LEFT"):
- val = start_speed
- Ctl_com = manual_command(0, 0, val, val, "+", "+", "-", "+")
-
- elif get_key("RIGHT"):
- val = start_speed
- Ctl_com = manual_command(0, 0, val, val, "+", "+", "+", "-")
-
- pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = decode_ctl(Ctl_com)
-
- waitTime = 0.05
- # changed
- gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
-
- serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
-
- time.sleep(waitTime)
-
-
-def dynamic_variable(str_name_v):
-
- global start_speed
- global kpx,kix,kdx
- global kpy,kiy,kdy
- global kpx_g,kix_g,kdx_g
- global kpy_g,kiy_g,kdy_g
-
- if str_name_v == "kpx":
- kpx = input("Enter your value: ")
- print("kpx:{}".format(kpx))
- elif str_name_v == "kix":
- kix = input("Enter your value: ")
- print("kix:{}".format(kix))
- elif str_name_v == "kdx":
- kdx = input("Enter your value: ")
- print("kdx:{}".format(kdx))
- elif str_name_v == "stsp":
- start_speed = input("Enter your value: ")
- print("start_speed:{}".format(start_speed))
- elif str_name_v == "kpy":
- kpx = input("Enter your value: ")
- print("kpy:{}".format(kpy))
- elif str_name_v == "kiy":
- kix = input("Enter your value: ")
- print("kiy:{}".format(kiy))
- elif str_name_v == "kdy":
- kdx = input("Enter your value: ")
- print("kdy:{}".format(kdy))
- if str_name_v == "kpx":
- kpx = input("Enter your value: ")
- print("kpx:{}".format(kpx))
- elif str_name_v == "kix_g":
- kix = input("Enter your value: ")
- print("kix_g:{}".format(kix_g))
- elif str_name_v == "kdx":
- kdx = input("Enter your value: ")
- print("kdx_g:{}".format(kdx_g))
- elif str_name_v == "kpy_g":
- kpx = input("Enter your value: ")
- print("kpy_g:{}".format(kpy_g))
- elif str_name_v == "kiy_g":
- kix = input("Enter your value: ")
- print("kiy_g:{}".format(kiy_g))
- elif str_name_v == "kdy_g":
- kdx = input("Enter your value: ")
- print("kdy_g:{}".format(kdy_g))
-
-def variables_change_once():
-
- str_name = input("Enter your variable: ")
- dynamic_variable(str_name)
-
-def auto_init(init_count,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
- if ml == 1:
- gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
- 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)
- init_count += 1
- return init_count
-# ===== Main Function =====
-if __name__ == '__main__':
- # =========== SET UP ============
- # Defining Variables for ESP 32 Serial I/O
- PORT = "COM6" # Based on your own serial port number
- serial_port = serial.Serial(PORT, 115200)
- serial_port.close()
- serial_port.open()
-
- # Weit Time
- waitTime = 0.05
-
- # Loading the PyTorch ML model for ball detection
- if ml == 1:
- model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
-
- # =========== DECLARE VARIABLES ===========
- # ESP CAM In
- global gbx,gby,gb_dist
- 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 = 100000, 100000, 100000 # 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 = '+', '+', '+', '+'
-
- # Trigger the ESP32_SLAVE to talk first
-
-
- Ctl_com = [0, 0, 0, 0, "+", "+", "+", "+"]
- flag = 0
- print_count = 1
- init_count = 0
- global start_speed
- start_speed = 70
-
- init()
- # =========== LOOP FOREVER===========
- while True:
-
- if get_key('a'):
- flag = 1
- while (flag == 1):
- if init_count == 0:
- init_count = auto_init(init_count,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
-
- auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
- flag, print_count = keyboard_stop(flag,print_count)
-
- 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)
- print("stop all motors")
-
- elif get_key('m'):
- flag = 2
- while (flag == 2):
- manual_control(Ctl_com,serial_port)
- flag, print_count = keyboard_stop(flag,print_count)
-
- elif get_key('v'):
- flag = 3
- while (flag == 3):
- variables_change_once()
- flag = 0
- print_count = 1
-
- elif get_key('k'):
- break
-
- if print_count is not 0:
- print("No subsystem is running")
- print_count = 0