After training my RC car, I use the following command:
python drive.py --model trainmodel.h5
This gives me IP where I can go and see if the testing was successful and the car can avoid white lines.
However, I don't know how to implement in the code that my stopsignhaarcascade.xml is being used.
The code of Drive.py:
"""
Scripts to drive a donkey 2 car and train a model for it.
Usage:
drive.py [--model=model]
Options:
-h --help Show this screen.
--model MODEL Path to the model to use for your autopilot.
"""
import os
from docopt import docopt
import donkeycar as dk
from donkeypart_picamera import PiCamera
from donkeypart_keras_behavior_cloning import KerasLinear
from donkeypart_PCA9685_actuators import PCA9685, PWMSteering, PWMThrottle
from donkeypart_tub import TubWriter
from donkeypart_web_controller import LocalWebController
from donkeypart_common import Timestamp
def drive(cfg, model_path=None, use_chaos=False):
"""
"""
V = dk.vehicle.Vehicle()
clock = Timestamp()
V.add(clock, outputs=['timestamp'])
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam, outputs=['cam/image_array'], threaded=True)
ctr = LocalWebController(use_chaos=use_chaos)
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# See if we should even run the pilot module.
# This is only needed because the part run_condition only accepts boolean
pilot_condition_part = MakeRunConditionBoolean()
V.add(pilot_condition_part,
inputs=['user/mode'],
outputs=['run_pilot'])
# Run the pilot if the mode is not user.
kl = KerasLinear()
if model_path:
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
state_controller = StateController()
V.add(state_controller,
inputs=['user/mode',
'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
steering_controller = PCA9685(cfg.STEERING_CHANNEL)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
# add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode', 'timestamp']
types = ['image_array', 'float', 'float', 'str', 'str']
# single tub
tub = TubWriter(path=cfg.TUB_PATH, inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
# run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ)
class MakeRunConditionBoolean:
def run(self, mode):
if mode == 'user':
return False
else:
return True
class StateController:
"""
Wraps a function into a donkey part.
"""
def __init__(self):
pass
def run(self, mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):
"""
Returns the angle, throttle and boolean if autopilot should be run.
The angle and throttles returned are the ones given to the steering and
throttle actuators.
"""
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
if name == 'main':
args = docopt(doc)
cfg = dk.load_config()
drive(cfg, model_path=args['--model'])
