From b20516d8f3ad2da0926c7507b3074d8ed3fbfaeb Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Thu, 4 Nov 2021 23:29:49 -0700
Subject: [PATCH] add manual control option into auto_control
---
Code/Control/Laptop_Code/main_keyboard.py | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index d143639..b38848b 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -667,6 +667,18 @@ 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):
+ if get_key('m'):
+ flag = 12
+ while (flag == 12):
+ manual_control(Ctl_com, serial_port)
+ flag = manual_return2auto('r')
+ return flag
+
+def manual_return2auto(key_press):
+ if get_key(key_press):
+ flag_r = 1
+ return flag_r
# ===== Main Function =====
@@ -725,6 +737,8 @@ 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)
+
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)
--
GitLab