Add support for L293 driver

README.md

@@ -8,6 +8,8 @@ See self-driving in action
 
 This project builds a self-driving RC car using Raspberry Pi, Arduino and open source software. Raspberry Pi collects inputs from a camera module and an ultrasonic sensor, and sends data to a computer wirelessly. The computer processes input images and sensor data for object detection (stop sign and traffic light) and collision avoidance respectively. A neural network model runs on computer and makes predictions for steering based on input images. Predictions are then sent to the Arduino for RC car control. 
 
+**Note: This is the code for running a car powered with an esp8266 and L293 driver**
+
 ### Setting up environment with Anaconda
   1. Install [`miniconda(Python3)`](https://conda.io/miniconda.html) on your computer
   2. Create `auto-rccar` environment with all necessary libraries for this project  
@@ -31,8 +33,8 @@ This project builds a self-driving RC car using Raspberry Pi, Arduino and open s
        `stream_client.py`:        stream video frames in jpeg format to the host computer  
        `ultrasonic_client.py`:    send distance data measured by sensor to the host computer  
 
-**arduino/**  
-       `rc_keyboard_control.ino`: control RC car controller  
+**esp/**  
+       `boot.py`: RC car controller  
 
 **computer/**    
        **cascade_xml/**  
@@ -54,7 +56,12 @@ This project builds a self-driving RC car using Raspberry Pi, Arduino and open s
 
 
 ### How to drive
-1. **Testing:** Flash `rc_keyboard_control.ino` to Arduino and run `rc_control_test.py` to drive the RC car with keyboard. Run `stream_server_test.py` on computer and then run `stream_client.py` on raspberry pi to test video streaming. Similarly, `ultrasonic_server_test.py` and `ultrasonic_client.py` can be used for sensor data streaming testing.   
+
+***Note: Remember to do the TODO in the following file:***
+
+     `config.py` **line 2**
+
+1. **Testing:** Flash `boot.py`, `config.py` & `webrepl_cfg.py` to ESP8266 and run `rc_control_test.py` to drive the RC car with keyboard. Run `stream_server_test.py` on computer and then run `stream_client.py` on raspberry pi to test video streaming. Similarly, `ultrasonic_server_test.py` and `ultrasonic_client.py` can be used for sensor data streaming testing.   
 
 2. **Pi Camera calibration (optional):** Take multiple chess board images using pi camera module at various angles and put them into **`chess_board`** folder, run `picam_calibration.py` and returned parameters from the camera matrix will be used in `rc_driver.py`.
 

computer/collect_training_data.py

@@ -1,28 +1,36 @@
 __author__ = 'zhengwang'
 
+import os, sys, inspect
+
+cd = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+pd = os.path.dirname(cd)
+sys.path.insert(0, pd)
+
 import numpy as np
 import cv2
 import serial
 import pygame
 from pygame.locals import *
 import socket
 import time
-import os
+import urllib.request as httpReq
+import config
 
 
 class CollectTrainingData(object):
 
-    def __init__(self, host, port, serial_port, input_size):
+    def __init__(self, host, port, input_size):
 
         self.server_socket = socket.socket()
         self.server_socket.bind((host, port))
         self.server_socket.listen(0)
 
         # accept a single connection
         self.connection = self.server_socket.accept()[0].makefile('rb')
+        self.httpURL = config.httpURL
 
-        # connect to a seral port
-        self.ser = serial.Serial(serial_port, 115200, timeout=1)
+        # connect to a serial port
+        # self.ser = serial.Serial(serial_port, 115200, timeout=1)
         self.send_inst = True
 
         self.input_size = input_size
@@ -81,62 +89,72 @@ def collect(self):
 
                             # complex orders
                             if key_input[pygame.K_UP] and key_input[pygame.K_RIGHT]:
-                                print("Forward Right")
                                 X = np.vstack((X, temp_array))
                                 y = np.vstack((y, self.k[1]))
                                 saved_frame += 1
-                                self.ser.write(chr(6).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,0)&motrCtrl(2,1)?/")
+                                print("Forward Right: " + res)
+                                # self.ser.write(chr(6).encode())
 
                             elif key_input[pygame.K_UP] and key_input[pygame.K_LEFT]:
-                                print("Forward Left")
                                 X = np.vstack((X, temp_array))
                                 y = np.vstack((y, self.k[0]))
                                 saved_frame += 1
-                                self.ser.write(chr(7).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,1)&motrCtrl(2,0)?/")
+                                print("Forward Left: " + res)
+                                # self.ser.write(chr(7).encode())
 
                             elif key_input[pygame.K_DOWN] and key_input[pygame.K_RIGHT]:
-                                print("Reverse Right")
-                                self.ser.write(chr(8).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,-1)&motrCtrl(2,1)?/")
+                                print("Reverse Right: " + res)
+                                # self.ser.write(chr(8).encode())
 
                             elif key_input[pygame.K_DOWN] and key_input[pygame.K_LEFT]:
-                                print("Reverse Left")
-                                self.ser.write(chr(9).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,1)&motrCtrl(2,-1)?/")
+                                print("Reverse Left: " + res)
+                                # self.ser.write(chr(9).encode())
 
                             # simple orders
                             elif key_input[pygame.K_UP]:
-                                print("Forward")
                                 saved_frame += 1
                                 X = np.vstack((X, temp_array))
                                 y = np.vstack((y, self.k[2]))
-                                self.ser.write(chr(1).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,1)&motrCtrl(2,1)?/")
+                                print("Forward: " + res)
+                                # self.ser.write(chr(1).encode())
 
                             elif key_input[pygame.K_DOWN]:
-                                print("Reverse")
-                                self.ser.write(chr(2).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,-1)&motrCtrl(2,-1)?/")
+                                print("Reverse: " + res)
+                                # self.ser.write(chr(2).encode())
 
                             elif key_input[pygame.K_RIGHT]:
-                                print("Right")
                                 X = np.vstack((X, temp_array))
                                 y = np.vstack((y, self.k[1]))
                                 saved_frame += 1
-                                self.ser.write(chr(3).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,0)&motrCtrl(2,1)?/")
+                                print("Right: " + res)
+                                # self.ser.write(chr(3).encode())
 
                             elif key_input[pygame.K_LEFT]:
-                                print("Left")
                                 X = np.vstack((X, temp_array))
                                 y = np.vstack((y, self.k[0]))
                                 saved_frame += 1
-                                self.ser.write(chr(4).encode())
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,1)&motrCtrl(2,0)?/")
+                                print("Left: " + res)
+                                # self.ser.write(chr(4).encode())
 
                             elif key_input[pygame.K_x] or key_input[pygame.K_q]:
-                                print("exit")
                                 self.send_inst = False
-                                self.ser.write(chr(0).encode())
-                                self.ser.close()
+                                res = httpReq.urlopen(self.httpURL + "motrCtrl(1,0)&motrCtrl(2,0)?/")
+                                print("Exit: " + res)
+                                # self.ser.close()
                                 break
 
                         elif event.type == pygame.KEYUP:
-                            self.ser.write(chr(0).encode())
+                            res = httpReq.urlopen(self.httpURL + "motrCtrl(1,0)&motrCtrl(2,0)?/")
+                            print("Exit: " + res)
+                            # self.ser.write(chr(0).encode())
 
                     if cv2.waitKey(1) & 0xFF == ord('q'):
                         break
@@ -168,13 +186,10 @@ def collect(self):
 
 if __name__ == '__main__':
     # host, port
-    h, p = "192.168.1.100", 8000
-
-    # serial port
-    sp = "/dev/tty.usbmodem1421"
+    h, p = config.serverIP, 8000
 
     # vector size, half of the image
     s = 120 * 320
 
-    ctd = CollectTrainingData(h, p, sp, s)
+    ctd = CollectTrainingData(h, p, s)
     ctd.collect()

computer/rc_driver.py

@@ -1,11 +1,16 @@
 __author__ = 'zhengwang'
 
+import os, sys, inspect
+
+cd = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+pd = os.path.dirname(cd)
+sys.path.insert(0, pd)
+
 import cv2
-import sys
 import threading
 import socketserver
 import numpy as np
-
+import config
 
 from model import NeuralNetwork
 from rc_driver_helper import *
@@ -39,7 +44,7 @@ class VideoStreamHandler(socketserver.StreamRequestHandler):
     nn.load_model("saved_model/nn_model.xml")
 
     obj_detection = ObjectDetection()
-    rc_car = RCControl("/dev/tty.usbmodem1421") 
+    rc_car = RCControl() 
 
     # cascade classifiers
     stop_cascade = cv2.CascadeClassifier("cascade_xml/stop_sign.xml")
@@ -183,7 +188,7 @@ def start(self):
 
 
 if __name__ == '__main__':
-    h, p1, p2 = "192.168.1.100", 8000, 8002
+    h, p1, p2 = config.serverIP, 8000, 8002
 
     ts = Server(h, p1, p2)
     ts.start()

computer/rc_driver_helper.py

@@ -1,30 +1,45 @@
 __author__ = 'zhengwang'
 
+import os, sys, inspect
+
+cd = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+pd = os.path.dirname(cd)
+sys.path.insert(0, pd)
+
 import serial
 import cv2
 import math
+import urllib.request as httpReq
+import config
 
 
 class RCControl(object):
 
-    def __init__(self, serial_port):
-        self.serial_port = serial.Serial(serial_port, 115200, timeout=1)
+    def __init__(self):
+        # self.serial_port = serial.Serial(serial_port, 115200, timeout=1)
+        # http://192.168.4.1/?motrCtrl(1,mode=0)&motrCtrl(2,mode=0)?/
+        self.httpURL = config.httpURL
 
     def steer(self, prediction):
         if prediction == 2:
-            self.serial_port.write(chr(1).encode())
-            print("Forward")
+            # self.serial_port.write(chr(1).encode())
+            res = httpReq.urlopen(self.httpURL + "motrCtrl(1,1)&motrCtrl(2,1)?/")
+            print("Forward: " + res)
         elif prediction == 0:
-            self.serial_port.write(chr(7).encode())
-            print("Left")
+            # self.serial_port.write(chr(7).encode())
+            res = httpReq.urlopen(self.httpURL + "motrCtrl(1,-1)&motrCtrl(2,1)?/")
+            print("Left: " + res)
         elif prediction == 1:
-            self.serial_port.write(chr(6).encode())
-            print("Right")
+            # self.serial_port.write(chr(6).encode())
+            res = httpReq.urlopen(self.httpURL + "motrCtrl(1,1)&motrCtrl(2,-1)?/")
+            print("Right: " + res)
         else:
             self.stop()
 
     def stop(self):
-        self.serial_port.write(chr(0).encode())
+        # self.serial_port.write(chr(0).encode())
+        res = httpReq.urlopen(self.httpURL + "motrCtrl(1,0)&motrCtrl(2,0)?/")
+        print("Stop: "+ res)
 
 
 class DistanceToCamera(object):