#!/usr/bin/env python
"""Interactive control for the car"""
import time
import io
import pygame
import pygame.font
import picamera
import configuration
import helpers.motor_driver as motor_driver_helper
import helpers.image as image_helper
UP = LEFT = DOWN = RIGHT = ACCELERATE = DECELERATE = False
def get_keys():
"""Returns a tuple of (UP, DOWN, LEFT, RIGHT, change, ACCELERATE,
DECELERATE, stop) representing which keys are UP or DOWN and
whether or not the key states changed.
"""
change = False
stop = False
key_to_global_name = {
pygame.K_LEFT: 'LEFT',
pygame.K_RIGHT: 'RIGHT',
pygame.K_UP: 'UP',
pygame.K_DOWN: 'DOWN',
pygame.K_ESCAPE: 'QUIT',
pygame.K_q: 'QUIT',
pygame.K_w: 'ACCELERATE',
pygame.K_s: 'DECELERATE'
}
for event in pygame.event.get():
if event.type in {pygame.K_q, pygame.K_ESCAPE}:
stop = True
elif event.type in {pygame.KEYDOWN, pygame.KEYUP}:
down = (event.type == pygame.KEYDOWN)
change = (event.key in key_to_global_name)
if event.key in key_to_global_name:
globals()[key_to_global_name[event.key]] = down
return (UP, DOWN, LEFT, RIGHT, change, ACCELERATE, DECELERATE, stop)
def interactive_control():
"""Runs the interactive control"""
setup_interactive_control()
clock = pygame.time.Clock()
with picamera.PiCamera() as camera:
camera.resolution = configuration.PICAMERA_RESOLUTION
camera.framerate = configuration.PICAMERA_FRAMERATE
time.sleep(configuration.PICAMERA_WARM_UP_TIME)
# GPIO.output(BACK_MOTOR_ENABLE_PIN, True)
pwm = motor_driver_helper.get_pwm_imstance()
motor_driver_helper.start_pwm(pwm)
command = 'idle'
duty_cycle = configuration.INITIAL_PWM_DUTY_CYCLE
while True:
up_key, down, left, right, change, accelerate, decelerate, stop = get_keys()
if stop:
break
if accelerate:
duty_cycle = duty_cycle + 3 if (duty_cycle + 3) <= 100 else duty_cycle
motor_driver_helper.change_pwm_duty_cycle(pwm, duty_cycle)
print("speed: " + str(duty_cycle))
if decelerate:
duty_cycle = duty_cycle - 3 if (duty_cycle - 3) >= 0 else duty_cycle
motor_driver_helper.change_pwm_duty_cycle(pwm, duty_cycle)
print("speed: " + str(duty_cycle))
if change:
command = 'idle'
motor_driver_helper.set_idle_mode()
if up_key:
command = 'forward'
print(duty_cycle)
motor_driver_helper.set_forward_mode()
elif down:
command = 'reverse'
motor_driver_helper.set_reverse_mode()
append = lambda x: command + '_' + x if command != 'idle' else x
if left:
command = append('left')
motor_driver_helper.set_left_mode()
elif right:
command = append('right')
motor_driver_helper.set_right_mode()
print(command)
stream = io.BytesIO()
camera.capture(stream, format='jpeg', use_video_port=True)
image_helper.save_image_with_direction(stream, command)
stream.flush()
clock.tick(30)
pygame.quit()
def setup_interactive_control():
"""Setup the Pygame Interactive Control Screen"""
pygame.init()
display_size = (300, 400)
screen = pygame.display.set_mode(display_size)
background = pygame.Surface(screen.get_size())
color_white = (255, 255, 255)
display_font = pygame.font.Font(None, 40)
pygame.display.set_caption('RC Car Interactive Control')
text = display_font.render('Use arrows to move', 1, color_white)
text_position = text.get_rect(centerx=display_size[0] / 2)
background.blit(text, text_position)
screen.blit(background, (0, 0))
pygame.display.flip()
def main():
"""Main function"""
motor_driver_helper.set_gpio_pins()
interactive_control()
if __name__ == '__main__':
main()
