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run_manual.py
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run_manual.py
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import curses
from Robo import Robot
from picamera2 import Picamera2
robo = Robot()
import cv2
picam2 = Picamera2()
# get the curses screen window
screen = curses.initscr()
# turn off input echoing
curses.noecho()
# respond to keys immediately (don't wait for enter)
curses.cbreak()
# map arrow keys to special values
screen.keypad(True)
config = picam2.create_still_configuration()
picam2.configure(config)
picam2.start()
turn_speed = 0.3
move_speed = 0.2
def write_to_disk(data):
for image , direction, index in data:
cv2.imwrite( f"./images/img_{index}_{direction}.jpg", image)
i =1
data = []
try:
while True:
#robo.stop()
char = screen.getch()
if char == ord('r'):
robo.stop()
print("write in progress...")
write_to_disk(data)
data= []
print("write completed...")
elif char == ord('q'):
robo.stop()
break
elif char == ord('s'):
robo.stop()
image = picam2.capture_array()
if char == curses.KEY_RIGHT:
# print doesn't work with curses, use addstr instead
robo.right(turn_speed)
data.append((image,"R", i))
elif char == curses.KEY_LEFT:
robo.left(turn_speed)
data.append((image,"L", i))
elif char == curses.KEY_UP:
robo.forward(move_speed)
data.append((image,"F", i))
elif char == curses.KEY_DOWN:
robo.backward(move_speed)
i+=1
finally:
# shut down cleanly
picam2.stop()
robo.stop()
curses.nocbreak(); screen.keypad(0); curses.echo()
curses.endwin()