From d31b99a1d209d142c575037f939a256738429b88 Mon Sep 17 00:00:00 2001
From: Aaron John Sabu <aaronjohnsabu1999@gmail.com>
Date: Mon, 15 Nov 2021 07:15:25 -0800
Subject: [PATCH] Final version for quals
---
.../Control/Laptop_Code/ESP32_AT/imageTread_AT.py | 8 +++++++-
.../Laptop_Code/ESP32_slave/ESP32_slave.ino | 11 +++++++++--
.../Laptop_Code/ball_detection/ball_detection.py | 11 +++++++++--
.../basic_comm_test/ESP32_master/ESP32_master.ino | 8 +++++++-
Code/Control/Laptop_Code/main_joystick_1_6.py | 15 ++++++++++-----
Code/Control/Laptop_Code/main_joystick_8_10.py | 8 ++++++--
6 files changed, 48 insertions(+), 13 deletions(-)
diff --git a/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py b/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py
index eed809a..b64646b 100644
--- a/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py
+++ b/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
diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
index f79c97c..c5fb468 100644
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ b/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
diff --git a/Code/Control/Laptop_Code/ball_detection/ball_detection.py b/Code/Control/Laptop_Code/ball_detection/ball_detection.py
index 3a01288..0aa0014 100644
--- a/Code/Control/Laptop_Code/ball_detection/ball_detection.py
+++ b/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]
diff --git a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
index 446b250..08e49e5 100644
--- a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
+++ b/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
diff --git a/Code/Control/Laptop_Code/main_joystick_1_6.py b/Code/Control/Laptop_Code/main_joystick_1_6.py
index 1141e5d..d66e831 100644
--- a/Code/Control/Laptop_Code/main_joystick_1_6.py
+++ b/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()
diff --git a/Code/Control/Laptop_Code/main_joystick_8_10.py b/Code/Control/Laptop_Code/main_joystick_8_10.py
index ef7207d..05ee803 100644
--- a/Code/Control/Laptop_Code/main_joystick_8_10.py
+++ b/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()
--
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