Running Robot 2020

Official Rule for year 2020

@[TOC]

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1. Video Stream

In Video_stream.py defined video stream.

This stream can load both from device id and url stream in the robot but they cannot be used in the same time.

I recommend to close the url stream service on the robot and load from the device id directly:

    Chest = LoadStreams(0)
    Head = LoadStreams(2)

Chest.imgs will be the frame that you want

You can also view the video stream in the main function in Video_stream.py:

if __name__ == '__main__':
    dataset = LoadStreams(2)

    while True:
        cv2.imshow('img0', dataset.imgs)
        if cv2.waitKey(1) == ord('q'):  # q to quit
            raise StopIteration

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2. Mission State Definition

We defined such missions in this track:

event_dist = {
        1: "holeg",
        2: "landmine",
        3: "flap",
        4: "turn",
        5: "door",
        6: "bridge",
        7: "ball",
        8: "step",
        9: "holeb"}

If the track has been changed in later years of competetion, change the event_dist in the file State_machine.py to match the real situation.

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3. Mission Function definition

In each mission state, call the needed mission function in that state in the top module Top_model.py such as:

def landmine_state(Event_list):  #Check
    print('This is landmine_state')
    Back_to_center(Chest)
    landmine_lyu(Chest)
    return ("Trans",Event_list)

The mission function should be defined as:

def Mission (Input_img, Other paramters you need):
    """
	Please describe the function first
	Usually, do not return anything in this function    
    """	
    while True:
    	# This is a loop for continuous recognition and move decision

Design Suggestions: : 1. Load img stream in each mission function : 2. Make move decision in each mission function : 3. Add necessary sleep time or judgment to make sure the robot has finished current movment when next loop starts

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4. Demo & Test

1. Test

For test, you can record videos of the track and then use OBS virtue camera to replay the video as test.

Then change the import:

#from CMDcontrol import CMD_transfer, action_list
#from CMDcontrol import action_append
from Robot_control import action_append,action_list

Robot_control will print the actions out for test.

2. Mission order

We use the most advanced human intelligence method to recognize the mission order.

Change event_order = [9,2,3,5,6,7,8] with the real order on the track before you start the competition.

3. Color dictionary

Many visual methods need a proper color dict, most of them are stored in the file: Color_define.py

Adjust the colors based on the real situation of the track.

Test (1).py is another method but not well organized, you can also try that.

Good luck