https://github.com/king-sj/carrobot
北京邮电大学创新创业智能车python版本 | BUPT Innovation and Entrepreneurship Intelligent Car Python Version
https://github.com/king-sj/carrobot
bupt car intelligence python smart-car vpl
Last synced: about 2 months ago
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北京邮电大学创新创业智能车python版本 | BUPT Innovation and Entrepreneurship Intelligent Car Python Version
- Host: GitHub
- URL: https://github.com/king-sj/carrobot
- Owner: King-sj
- Created: 2024-10-12T09:25:22.000Z (8 months ago)
- Default Branch: main
- Last Pushed: 2024-11-06T18:09:30.000Z (7 months ago)
- Last Synced: 2025-03-27T20:22:49.590Z (2 months ago)
- Topics: bupt, car, intelligence, python, smart-car, vpl
- Language: Python
- Homepage: https://www.bupt.online/projects/carrobot.html
- Size: 223 KB
- Stars: 5
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Smart cars
[Go to the Go version](https://github.com/DrinkLessMilkTea/robot_car)
[lib](https://github.com/King-sj/CarRobot/tree/lib)
## Languages
- [English](README.md)
- [中文](README.zh.md)
## Environment Setup
- Python 3.11
- No additional requirements
## How to Start
```sh
python -m src
```
**Or just press F5 in VSCode.**
## API Documentation
### General Car Class
File: `src/car.py`
- `Car()`: Create an instance
- `connect()`: Asynchronously connect to the car's WiFi with tcp
- `update_state()`: Asynchronously update the car's state
- `set_speed(...)`: Set the car's speed
- `distance`: Distance to an obstacle
- `in_road`: Whether the car is on the correct path
- `have_obstacle`: Whether there is an obstacle ahead (based on infrared signals)
### Minimal Demo
```py
from src.car import Car
from src.logging_config import setup_logging
import logging
from src.config import Config
import asyncio
logger = logging.getLogger(__name__)
# @attention await sleep some times is necessary to release thread for other coroutine.
async def control_car(car: Car):
car.set_speed(0.5, 0.5)
while True:
print(f"current state: {car.distance}, {car.in_road}, {car.have_obstacle}")
if car.distance is None or car.in_road is None or car.speed is None:
await asyncio.sleep(0.1)
continue
if car.distance < 20:
print("change state")
car.set_speed(0.5, 0.0)
else:
print("change state")
car.set_speed(0.5, 0.5)
await asyncio.sleep(0.1)
async def main():
setup_logging()
car = Car()
await car.connect()
await asyncio.gather(
car.update_state(),
control_car(car)
)
if __name__ == "__main__":
logger.setLevel(Config.LOG_LEVEL)
asyncio.run(main())
print("done")
```
### Intelligent Car
File: `src/robot_craft_car.py`
- `class RobotCraftCar(Car)`: Further encapsulation for car
some example
```py
from src.car import Car
from enum import Enum
from typing import Callable
import asyncio
class Direction(Enum):
LEFT = "left"
RIGHT = "right"
class RobotCraftCar(Car):
def __init__(self):
super().__init__()
def straight(self):
self.set_speed(0.2,0.2)
def low_straight(self):
self.set_speed(0.2,0.2)
def turn_left(self):
self.set_speed(-0.1,0.1)
def turn_right(self):
self.set_speed(0.1,-0.1)
async def adjustment_dir(self, dir:Direction, duration:float, is_right_gesture:Callable):
time_left = duration
if (dir == Direction.LEFT):
self.turn_left()
else:
self.turn_right()
while time_left > 0:
if is_right_gesture():
break
time_left -= 0.1
await asyncio.sleep(0.1)
self.straight()
```
### Example Usage
```py
from src.robot_craft_car import RobotCraftCar as Car, Direction
from src.logging_config import setup_logging
import logging
from src.config import Config
import asyncio
logger = logging.getLogger(__name__)
async def control_car(car: Car):
car.set_speed(0.3, 0.3)
while True:
print(f"current state: {car.distance}, {car.in_road}, {car.have_obstacle}")
if car.distance is None or car.in_road is None or car.speed is None:
await asyncio.sleep(0.1)
continue
if not car.in_road:
await car.adjustment_dir(Direction.RIGHT, 1, lambda: car.in_road)
if car.distance < 20:
print("change state")
await car.adjustment_dir(Direction.RIGHT, 1, lambda: car.distance is not None and car.distance > 40)
await asyncio.sleep(0.1)
async def main():
setup_logging()
car = Car()
await car.connect()
await asyncio.gather(
car.update_state(),
control_car(car)
)
if __name__ == "__main__":
logger.setLevel(Config.LOG_LEVEL)
asyncio.run(main())
print("done")
```
## Communication Protocol
