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Accepts commands from dashboard, sends data back to dashboard #29

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Accepts commands from dashboard, sends data back to dashboard #29

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9c95fdb
aaaaaaaaa
jmcmah10 May 28, 2023
d88d1a1
updates
jmcmah10 May 31, 2023
dd1fb98
fixed imports
jmcmah10 May 31, 2023
2e25e37
changed acceptable driving slope (around 40 degrees now)
jmcmah10 May 31, 2023
7809bad
added depth camera thread
jmcmah10 May 31, 2023
03bc6ae
adjust camera based on orientation
jmcmah10 Jun 1, 2023
e3a13da
temp remove orientation
jmcmah10 Jun 1, 2023
72fa04b
Merge remote-tracking branch 'pi2/refactor_to_accept_commands' into r…
jmcmah10 Jun 1, 2023
b84f6eb
Temp1
jmcmah10 May 28, 2023
683b533
Spaces
Levi-Lesches Jun 1, 2023
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227 changes: 0 additions & 227 deletions bin/autonomy_main.py
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9 changes: 4 additions & 5 deletions bin/depth_camera_test.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
from lib.depth_camera import DepthCamera
from lib.obstacle_avoidance import ObstacleDetectionCamera
from lib.cameras.obstacle_avoidance import ObstacleDetectionCamera
import time
import math
import os
Expand All @@ -8,7 +7,7 @@
camera_horizontal_fov = 90.0
compass_direction = 0.0
current_position = (0, 0)

"""
def _update_blocked_areas(depth_lists):
grid_ticker = {}
max_ticks = 40
Expand All @@ -35,13 +34,13 @@ def _update_blocked_areas(depth_lists):
out_list.append((math.floor(k[0] + math.cos(compass_direction)), math.floor(k[1] + math.sin(compass_direction))))
out_list.append(k)
print(out_list)

"""
def main():
print("Started")
camera = ObstacleDetectionCamera(2.4, 50, -0.3)
print("Initialized")
fun = lambda a : int(a)
time.sleep(5)
# time.sleep(5)
#while True:
# print(camera.read_markers())

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3 changes: 2 additions & 1 deletion bin/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@ def __init__(self):
self.drive = Drive(collection=self)
self.gps = GpsThread(collection=self)
self.imu = ImuThread(collection=self)
self.camera = ObstacleDetectionCamera(1.8, 240, -0.3, test=True)
self.depth_camera = DepthCameraThread(collection=self)
self.camera = ObstacleDetectionCamera(1.8, 240, -0.3, self.depth_camera)

# Main process
print("[Info] Initializing main thread...")
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2 changes: 1 addition & 1 deletion bin/subsystems_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

from network import ProtoSocket, Device
from network.src.generated.Protobuf.drive_pb2 import DriveCommand
from lib.drive import Drive
from lib.network.drive import Drive

socket = ProtoSocket(port=8000, device=Device.DASHBOARD, destination=("127.0.0.1", 8001))
drive = Drive(socket)
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