From e17deb32332fdca97f8a0c46ae2bc8a725c5572d Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Fri, 22 Oct 2021 23:38:35 -0700
Subject: [PATCH] Uncomment those "debugging commented out" things
---
.../Laptop_Code/main_integrated_test.py | 31 ++++++++-----------
1 file changed, 13 insertions(+), 18 deletions(-)
diff --git a/Code/Control/Laptop_Code/main_integrated_test.py b/Code/Control/Laptop_Code/main_integrated_test.py
index 4a24a9f..1f1efae 100644
--- a/Code/Control/Laptop_Code/main_integrated_test.py
+++ b/Code/Control/Laptop_Code/main_integrated_test.py
@@ -1,6 +1,6 @@
import time
import serial
-# import ball_detection.ball_detection as ball_detection
+import ball_detection.ball_detection as ball_detection
import simple_pid.PID as PID
import timeit
@@ -23,7 +23,7 @@ def serial_port_in(serial_port):
# DEBUG Verbose
print("initiating one round of serial in ...")
-
+
for i in range(7):
line = serial_port.readline()
val = int(line.decode())
@@ -328,8 +328,7 @@ if __name__ == '__main__':
waitTime = 0.05
# Loading the PyTorch ML model for ball detection
- # model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
- #model = ball_detection.returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+ model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
# =========== DECLARE VARIABLES ===========
@@ -348,31 +347,27 @@ if __name__ == '__main__':
dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
# =========== LOOP FOREVER===========
- # ESP32_SLAVE Talk First
- # gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ # Trigger the ESP32_SLAVE Talk First
+ 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)
-
+
while True:
# ===== STEP 1: TAKE ALL INPUT =====
- # gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ 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(0.05)
+ time.sleep(waitTime)
-
- 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)
# ===== 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(0.05)
+ time.sleep(waitTime)
--
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