picar_end2end

代码说明

收集数据

$ python collect.py
require:
---- joystick.py 手柄控制
---- car.py 小车控制

训练模型

$ jupyter notebook
open http://localhost:8888/tree:
----> train/train.ipynb

自动驾驶

python driver.py
require:
---- model.py 训练模型
---- car.py 小车控制

模型

Model	Loss	Val Loss	Map
train

数据处理

原图

裁剪

放缩

翻转

数据增强

sequence = iaa.Sequential([
    sometime(iaa.GaussianBlur((0, 1.5))),
    sometime(iaa.Sharpen(alpha=(0, 1.0), lightness=(0.75, 1.5))),
    sometime(iaa.AdditiveGaussianNoise(
        loc=0, scale=(0.0, 3.), per_channel=0.5)),
    sometime(iaa.Dropout((0.0, 0.1))),
    sometime(iaa.CoarseDropout((0.10, 0.30),
                               size_percent=(0.02, 0.05), per_channel=0.2)),
    sometime(iaa.Add((-10, 10), per_channel=0.5)),
],
    random_order=True
)

pre

vis

小车

零件	前视图	俯视图

必要零件

1. 舵机转向小车
2. 电机驱动
3. 树莓派
4. 手柄
5. 摄像头
6. 7.4V电池组(两节18650充电电池)
7. 5V充电宝

前轮转向

Brown	Red	Orange
GND	VCC	SIG

# Front Wheel
SIG = 12

# BOARD or BCM
GPIO.setmode(GPIO.BOARD)

GPIO.setup(SIG, GPIO.OUT)
car = GPIO.PWM(SIG, 50)  # 50HZ
car.start(0)

后轮驱动

SLP	PWM	DIR	M+	M-	Status
H	H(PWM)	H	H	L	Forward
H	H(PWM)	L	L	H	Backward
H	L	X	L	L	Brake
L	X	X	X	X	Stop

# Rear Wheel
SLP = 4
DIR = 11
PWM = 13

# BOARD or BCM
GPIO.setmode(GPIO.BOARD)

# GPIO.setup(SLP, GPIO.OUT)  # +5V (The channel sent is invalid on a Raspberry Pi.)
GPIO.setup(DIR, GPIO.OUT)
GPIO.setup(PWM, GPIO.OUT)
car = GPIO.PWM(PWM, 10*1000)  # 10kHZ-30kHZ
car.start(0)

手柄

手柄测试

$ sudo apt-get install joystick

$ jstest /dev/input/js0
Time:0 A:0 B:0 X:0 Y:0 LB:0 RB:0 MENU:0 LO:0 RO:0 LX:0 LY:0 RX:0 RY:0 LT:-32767 RT:-32767 XX:0 YY:0
......

XBOX手柄映射表

编码	解释	编码	解释
BUTTON_A = 0	按键A	AXIS_LX = 0	左摇杆X轴
BUTTON_B = 1	按键B	AXIS_LY = 1	左摇杆Y轴
BUTTON_X = 3	按键X	AXIS_RX = 2	右摇杆X轴
BUTTON_Y = 4	按键Y	AXIS_RY = 3	右摇杆Y轴
BUTTON_LB = 6	按键L1	AXIS_LT = 4	按键L2
BUTTON_RB = 7	按键R1	AXIS_RT = 5	按键R2
BUTTON_MENU = 11	按键MENU	AXIS_XX = 6	方向键X轴
BUTTON_LO = 13	左摇杆按键	AXIS_YY = 7	方向键Y轴
BUTTON_RO = 14	右摇杆按键

PS手柄映射表

编码	解释	编码	解释
BUTTON_A = 0	按键A	AXIS_LX = 0	左摇杆X轴
BUTTON_B = 1	按键B	AXIS_LY = 1	左摇杆Y轴
BUTTON_X = 2	按键X	AXIS_LT = 2	按键L2
BUTTON_Y = 3	按键Y	AXIS_RX = 3	右摇杆X轴
BUTTON_LB = 4	按键L1	AXIS_RY = 4	右摇杆Y轴
BUTTON_RB = 5	按键R1	AXIS_RT = 5	按键R2
BUTTON_SELECT = 6	按键MENU	AXIS_XX = 6	方向键X轴
BUTTON_START = 7	按键START	AXIS_YY = 7	方向键Y轴
BUTTON_HOME = 8	按键HOME
BUTTON_LO = 9	左摇杆按键
BUTTON_RO = 10	右摇杆按键

读取手柄数据

根据上述映射表，可以利用python实现jstest命令的功能，即读取/dev/input/js0的数据。
Linux内核文档提到手柄事件定义：

struct js_event {
__u32 time;	/* 事件时间戳，以毫秒为单位 */
__s16 value;	/* 值 */
__u8 type;		/* 事件类型 */
__u8 number;	/* 轴/按钮编号 */
};

直接读取/dev/input/js0内容即可：

EVENT_SIZE = struct.calcsize('IhBB')
dev = open('/dev/input/js0', 'rb')
while True:
	event = dev.read(EVENT_SIZE)
	(time, value, type, number) = struct.unpack('IhBB', event)
	# TODO

树莓派无法连接蓝牙手柄解决方案

$ sudo vim /sys/module/bluetooth/parameters/disable_ertm
将N改为1

摄像头

拍照测试

import picamera
import time

camera = picamera.PiCamera()
camera.resolution = (320, 160)
camera.rotation = 180
camera.start_preview()
time.sleep(5)
camera.capture('photo.jpg')
camera.stop_preview()

录像测试

import picamera
import time

camera = picamera.PiCamera()
camera.resolution = (320, 160)
camera.rotation = 180
camera.start_preview()
camera.start_recording('video.h264')
time.sleep(5)
camera.stop_recording()
camera.stop_preview()