Final version for quals

Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py

@@ -13,7 +13,7 @@ def nothing(x):
 
 detector = Detector()
 
-def get_AT_6DOF_info(url):
+def get_AT_6DOF_info(url, detectFlag = True):
     tid,tx,ty,tz= 0,100000,100000,0
     rx = [0.0,0.0,0.0]
     ry = [0.0, 0.0, 0.0]
@@ -29,6 +29,12 @@ def get_AT_6DOF_info(url):
     gray_image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
 
     h, w, _ = frame.shape
+    
+    if not detectFlag:
+      resized_frame = cv2.resize(frame,(400,300))
+      cv2.imshow("Image", resized_frame)
+      return -1,0,0,0,0,0,0
+    
     # put a dot in center of the frame
     cv2.circle(frame, (w // 2, h // 2), 7, (255, 0, 0), -1)
     # set camera parameters

Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino

@@ -11,14 +11,21 @@
 // REPLACE WITH THE MAC Address of your receiver (MASTER) 
 // Slave: 40:F5:20:44:B6:4C 
 // MAC Address of the receiver (MASTER)
-uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
+//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
 //uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC0, 0xD8}; // #5
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
 //uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
-// uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x9B, 0x04, 0x98}; // #8
+uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x9B, 0x04, 0x98}; // #8
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBE, 0x84}; // #9
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB9, 0x5C}; // #10
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC1, 0xD8}; // #11
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0xC8}; // #12
+//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0xA1, 0x14}; // #13
+//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x49, 0x4F, 0xC8}; // #14
+
 String success; 
  
 // Define variables to store incoming readings 

Code/Control/Laptop_Code/ball_detection/ball_detection.py

@@ -33,7 +33,7 @@ def modifyCore():
   cAddLineNums = [254, 256, 257, 258, 259]
 
   # REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
-  coreFile     = 'C:\\Users\\uclal\\.conda\\envs\\foray3\\Lib\\site-packages\\detecto\\core.py'
+  coreFile     = 'C:\\Users\\aaronjs\\.conda\\envs\\FORAYenv\\Lib\\site-packages\\detecto\\core.py'
 
   cModLineVals = ["    def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
                   "        # Load a model pre-trained on COCO - User-Modified",
@@ -81,7 +81,7 @@ def returnModel(device, labelSet, modelLoc, modelFile):
   return model
 
 #### Live Detection
-def detectLive(url , model, minDetectionScore = 0.90, showSight = True):
+def detectLive(url , model, minDetectionScore = 0.90, showSight = True, detectFlag = True):
     '''
     Descrption:
         ball detection ML Functions
@@ -104,6 +104,13 @@ def detectLive(url , model, minDetectionScore = 0.90, showSight = True):
     imgnp    = np.array(bytearray(img_resp.read()), dtype = np.uint8)
     frame    = cv2.imdecode(imgnp, -1)
 
+    if not detectFlag:
+      if showSight:
+        resized_frame = cv2.resize(frame,(400,300))
+        cv2.imshow('Ball Detection', resized_frame)
+        key = cv2.waitKey(1) & 0xFF
+      return gbx, gby, dist
+
     labels, boxes, scores = model.predict(frame)
     for i in range(boxes.shape[0]):
       box = boxes[i]

Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino

@@ -10,8 +10,14 @@
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC0, 0xD8}; // #5
 //uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
-uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
+//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
 //uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x9B, 0x04, 0x98}; // #8
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBE, 0x84}; // #9
+uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB9, 0x5C}; // #10
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC1, 0xD8}; // #11
+//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0xC8}; // #12
+//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0xA1, 0x14}; // #13
+//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x49, 0x4F, 0xC8}; // #14
 // ==================================== global data =================================================
 String success;
 // Define variables to store BME280 readings to be sent

Code/Control/Laptop_Code/main_joystick_1_6.py

@@ -9,7 +9,7 @@ from ESP32_AT.imageTread_AT import get_AT_6DOF_info
 global mc_print,ml_on,esp_cam_on,feather_data_on
 
 url_gb = 'http://10.0.0.7/cam-hi.jpg'
-url_AT = 'http://10.0.0.1/cam-hi.jpg'
+url_AT = 'http://10.0.0.30/cam-hi.jpg'
 
 mc_print = 1 # manual control print flag
 ml_on = 1
@@ -60,6 +60,8 @@ def manual_horizontal():
     return abs(pwm3),abs(pwm4),dir3,dir4
 
 def manual_control():
+    gbx, gby, gb_dist = ball_detection.detectLive(url_gb, model, minDetectionScore, showSight=True, detectFlag = False)
+    tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url_AT, detectFlag = False)
     pwm1,pwm2,dir1,dir2 = manual_vertical()
     pwm3,pwm4,dir3,dir4 = manual_horizontal()
     if mc_print == 1:
@@ -195,6 +197,8 @@ def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_di
     return Ctl_com
 
 def manual_in_auto(Ctl_com, serial_port, flag):
+    gbx, gby, gb_dist = ball_detection.detectLive(url_gb, model, minDetectionScore, showSight=True, detectFlag = False)
+    tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url_AT, detectFlag = False)
     done = 1
     if joystick.get_button(axes_win.get('button_LB')):
         flag = 12
@@ -235,7 +239,7 @@ def serial_port_in_v1(serial_port):
     # DEBUG Verbose
     print("initiating one round of serial in ...")
 
-    for i in range(8):
+    for i in range(7):
         line = serial_port.readline()
         val = int(line.decode())
 
@@ -253,9 +257,10 @@ 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
     line = serial_port.readline()
     debugM = line.decode()
 
@@ -519,7 +524,7 @@ if __name__ == '__main__':
 
     # =========== SET UP ============
     # Defining Variables for ESP 32 Serial I/O
-    PORT = "COM9" # for Alienware
+    PORT = "COM11" # for Alienware
     serial_port = serial.Serial(PORT, 115200)
     serial_port.close()
     serial_port.open()

Code/Control/Laptop_Code/main_joystick_8_10.py

@@ -9,7 +9,7 @@ from ESP32_AT.imageTread_AT import get_AT_6DOF_info
 global mc_print,ml_on,esp_cam_on,feather_data_on
 
 url_gb = 'http://10.0.0.7/cam-hi.jpg'
-url_AT = 'http://10.0.0.1/cam-hi.jpg'
+url_AT = 'http://10.0.0.5/cam-hi.jpg'
 
 mc_print = 1 # manual control print flag
 ml_on = 1
@@ -176,13 +176,17 @@ def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_di
         print("gbx,gby:{},{}".format(gbx, gby))
 
     line = serial_port.readline()
+    print("line")
     if feather_data_on == 1:
+        print("feather_data_on == 1")
         if line == b'SERIAL_IN_START\r\n':
+            print("line == b'SERIAL_IN_START\r\n'")
             tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_dist2, debugM = serial_port_in_v1(serial_port)
             # only getting the Lidar data back
             time.sleep(waitTime) # in second
 
     if esp_cam_on == 1:
+        print("esp_cam_on == 1")
         # ids,txs,tys,tzs,rxs,rys,rzs = get_AT_6DOF_info_list(url_AT)
         tid, tx, ty, tz, rx, ry, rz = get_AT_6DOF_info(url_AT)
         # LIDAR_dist1 = 0
@@ -519,7 +523,7 @@ if __name__ == '__main__':
 
     # =========== SET UP ============
     # Defining Variables for ESP 32 Serial I/O
-    PORT = "COM16" # for Alienware
+    PORT = "COM3" # for Alienware
     serial_port = serial.Serial(PORT, 115200)
     serial_port.close()
     serial_port.open()