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AmirmohammadZarif merged 1 commit into from
Apr 3, 2023
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Update README.md #4

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78 changes: 43 additions & 35 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -99,67 +99,75 @@ Open up the simulator and make sure it's running correctly as you run it.
![Image of Connection](http://avisengine.com/wp-content/uploads/2021/01/Screen-Shot-2021-01-25-at-1.01.41-AM.png)

### Python
Go to the files you downloaded before. Open up Example.py
Go to the files you downloaded before. Open up example.py

``` python
# Compatible with AVIS Engine version 1.0.3 or higher
import AVISEngine
'''
@ 2023, Copyright AVIS Engine
- An Example Compatible with AVISEngine version 2.0.1 or higher
'''
import avisengine
import config
import time
import cv2

#Calling the class
car = AVISEngine.car()
# Creating an instance of the Car class
car = avisengine.Car()

#connecting to the server (Simulator)
car.connect("127.0.0.1", 25001)
# Connecting to the server (Simulator)
car.connect(config.SIMULATOR_IP, config.SIMULATOR_PORT)

#Counter variable
# Counter variable
counter = 0

debug_mode = True
#sleep for 2 seconds to make sure that client connected to the simulator
time.sleep(2)
debug_mode = False

# Sleep for 3 seconds to make sure that client connected to the simulator
time.sleep(3)

try:
while(True):
#Counting the loops

# Counting the loops
counter = counter + 1

#Set the power of the engine of the car to 20, Negative number for reverse movement, Range [-100,100]
car.setSpeed(50)
# Set the power of the engine the car to 20, Negative number for reverse move, Range [-100,100]
car.setSpeed(20)

#Set the Steering of the car -10 degree from center
# Set the Steering of the car -10 degree from center, results the car to steer to the left
car.setSteering(-10)

# Set the angle between sensor rays to 30 degrees, Use this only if you want to set it from python client
car.setSensorAngle(40)

#Get the data. Need to call it every time getting image and sensor data
# Get the data. Need to call it every time getting image and sensor data
car.getData()

#Start getting image and sensor data after 4 loops. for unclear some reason it's really important
# Start getting image and sensor data after 4 loops
if(counter > 4):
#returns a list with three items which the 1st one is Left sensor data, the 2nd one is the Middle Sensor data, and the 3rd is the Right one.

# Returns a list with three items which the 1st one is Left sensor data\
# the 2nd one is the Middle Sensor data, and the 3rd is the Right one.
sensors = car.getSensors()
#EX) sensors[0] returns an int for left sensor data in cm

#returns an opencv image type array. if you use PIL you need to invert the color channels.
# Returns an opencv image type array. if you use PIL you need to invert the color channels.
image = car.getImage()

#returns an integer which is the real time car speed in KMH
# Returns an integer which is the real time car speed in KMH
carSpeed = car.getSpeed()

#Don't print data for better performance
if(debug_mode):
print("Speed : ",carSpeed)
#currently the angle between the sensors is 30 degree TODO : be able to change that from conf.py
print("Left : " + str(sensors[0]) + " | " + "Middle : " + str(sensors[1]) +" | " + "Right : " + str(sensors[2]))

#Showing the opencv type image
print(f"Speed : {carSpeed}")
print(f'Left : {str(sensors[0])} | Middle : {str(sensors[1])} | Right : {str(sensors[2])}')

# Showing the opencv type image
cv2.imshow('frames', image)
#break the loop when q pressed


if cv2.waitKey(10) == ord('q'):
break

time.sleep(0.001)
#A brief sleep to make sure everything


finally:
car.stop()
```
Expand Down Expand Up @@ -189,10 +197,10 @@ Set the thottle and steering of the car by adding
>2. Steering value Range : [-100,100] - "0 is Center"

``` python
#Set the speed of the car
# Set the speed of the car (This will not set the actual speed of the car, thus to achieve a certain speed, checking the speed feedback is required.)
car.setSpeed(50)

#Set the steering of the car
# Set the steering of the car
car.setSteering(0)
```

Expand All @@ -211,7 +219,7 @@ image = car.getImage()
carSpeed = car.getSpeed()
```

warning "It's highly recommended to add your Algorithms to the Example.py Code."
Warning "It's highly recommended to add your Algorithms to the example.py Code."

# Calibrate your Camera (Version 1.0.5 or higher).
You can calibrate your camera with a Simulated Checkerboard.
Expand All @@ -221,4 +229,4 @@ Camera Calibration Test 1 | Camera Calibration Test 2
![Image of Calibration](http://avisengine.com/wp-content/uploads/2021/01/Screen-Shot-2020-08-11-at-12.35.39-AM.png) | ![Image of Calibration2](http://avisengine.com/wp-content/uploads/2021/01/Screen-Shot-2020-08-11-at-12.35.52-AM.png)


last update : January 20, 2022
last update : April 3, 2023