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Nicholas Stănescu 2025-11-21 11:30:32 +01:00
parent a7c2e64d9c
commit b0a21852cb
1 changed files with 154 additions and 67 deletions
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221
Manual/3_Module_1.ipynb
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@ -21,7 +21,12 @@
]
},
{
"metadata": {},
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-21T09:42:15.154065Z",
"start_time": "2025-11-21T09:42:15.133482Z"
}
},
"cell_type": "code",
"source": [
"# Import necessary libraries\n",
@ -30,15 +35,15 @@
"# Uncomment one of the following lines depending on your setup\n",
"\n",
"# If you are using the real car, uncomment the next line and comment the simulator line\n",
"#from serial import Serial\n",
"from serial import Serial\n",
"\n",
"# If you are using the simulator, uncomment the next line and comment the real car line\n",
"from Manual.KITT_Simulator.serial_simulator import Serial\n",
"#from Manual.KITT_Simulator.serial_simulator import Serial\n",
"\n",
"# Note: After changing the import statement, you need to restart the kernel for changes to take effect."
],
"outputs": [],
"execution_count": null
"execution_count": 8
},
{
"cell_type": "markdown",
@ -165,7 +170,12 @@
]
},
{
"metadata": {},
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-21T09:38:49.876306Z",
"start_time": "2025-11-21T09:38:33.768247Z"
}
},
"cell_type": "code",
"source": [
"### Student Version: play with this! ###\n",
@ -204,8 +214,35 @@
"# Close the serial connection (important!)\n",
"serial.close()"
],
"outputs": [],
"execution_count": null
"outputs": [
{
"data": {
"text/plain": [
"Canvas(height=520, width=520)"
],
"application/vnd.jupyter.widget-view+json": {
"version_major": 2,
"version_minor": 0,
"model_id": "2d74e35cf2874410947b571c2686a44f"
}
},
"metadata": {},
"output_type": "display_data",
"jetTransient": {
"display_id": null
}
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Motors are ON\n",
"Car is outside the field boundaries!\n",
"Motors are OFF\n"
]
}
],
"execution_count": 2
},
{
"cell_type": "markdown",
@ -265,7 +302,12 @@
]
},
{
"metadata": {},
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-21T09:56:34.612180Z",
"start_time": "2025-11-21T09:56:29.551624Z"
}
},
"cell_type": "code",
"source": [
"### Student Version ###\n",
@ -279,6 +321,7 @@
"carrier_frequency_value = 10000 # Replace with your value\n",
"# Convert the frequency to bytes (2 bytes, big endian)\n",
"carrier_frequency = carrier_frequency_value.to_bytes(2, byteorder='big')\n",
"\n",
"# TODO: Send the 'F' command with the carrier frequency\n",
"serial.write(b\"\".join([b\"F\",carrier_frequency,b\"\\n\"]))\n",
"# Set bit frequency\n",
@ -327,8 +370,17 @@
"# TODO: Very Important! Close the serial connection\n",
"serial.close()\n"
],
"outputs": [],
"execution_count": null
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Beacon is ON\n",
"Beacon is OFF\n"
]
}
],
"execution_count": 37
},
{
"metadata": {},
@ -378,7 +430,12 @@
]
},
{
"metadata": {},
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-21T09:38:55.176015Z",
"start_time": "2025-11-21T09:38:55.092901Z"
}
},
"cell_type": "code",
"source": [
"### Student Version ###\n",
@ -397,8 +454,50 @@
"serial.close()\n",
"# TODO: Close the serial connection (important!)"
],
"outputs": [],
"execution_count": null
"outputs": [
{
"data": {
"text/plain": [
"Canvas(height=520, width=520)"
],
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"version_major": 2,
"version_minor": 0,
"model_id": "3017800da43140a2b518e020dcce5af4"
}
},
"metadata": {},
"output_type": "display_data",
"jetTransient": {
"display_id": null
}
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Car status is:\n",
"\n",
"**************************\n",
"* Audio Beacon: off\n",
"* c: 0xabcdef00\n",
"* f_c: 5678\n",
"* f_b: 1234\n",
"* c_r: 1337\n",
"**************************\n",
"* PWM:\n",
"* Dir. 150\n",
"* Mot. 150\n",
"**************************\n",
"* Sensors:\n",
"* Dist. L 0 R 0\n",
"* V_batt 11.5 V\n",
"**************************\n",
"\u0004\n"
]
}
],
"execution_count": 4
},
{
"cell_type": "markdown",
@ -466,8 +565,8 @@
{
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-19T20:47:25.030226Z",
"start_time": "2025-11-19T20:47:25.017941Z"
"end_time": "2025-11-21T10:27:10.276766Z",
"start_time": "2025-11-21T10:27:10.272096Z"
}
},
"cell_type": "code",
@ -483,12 +582,12 @@
" # Set carrier frequency, bit frequency, repetition count, and code pattern\n",
" carrier_frequency_value = 10000\n",
" carrier_frequency = carrier_frequency_value.to_bytes(2, byteorder='big')\n",
" self.send_command(str(b\"\".join([b\"F\",carrier_frequency,b\"\\n\"])))\n",
" self.send_command(b\"F\"+carrier_frequency+b\"\\n\")\n",
"\n",
"\n",
" bit_frequency_value = 5000\n",
" bit_frequency = bit_frequency_value.to_bytes(2, byteorder='big')\n",
" self.send_command(str(b\"\".join([b\"B\",bit_frequency,b\"\\n\"])))\n",
" self.send_command(b\"B\"+bit_frequency+b\"\\n\")\n",
"\n",
"\n",
" desired_repetition_frequency = 2 # Replace with your value\n",
@ -497,27 +596,27 @@
" # Ensure repetition_count_value is at least 32\n",
" repetition_count_value = max(repetition_count_value, 32)\n",
" repetition_count = repetition_count_value.to_bytes(2, byteorder='big')\n",
" self.send_command(str(b\"\".join([b\"R\",repetition_count,b\"\\n\"])))\n",
" self.send_command(b\"R\"+repetition_count+b\"\\n\")\n",
"\n",
" code_value = 0x99999999 # Replace with your code\n",
" code_value = 0x67676767 # Replace with your code\n",
" code = code_value.to_bytes(4, byteorder='big')\n",
" self.send_command(str(b\"\".join([b\"C\",code,b\"\\n\"])))\n",
" self.send_command(b\"C\"+code+b\"\\n\")\n",
"\n",
" def send_command(self, command):\n",
" # Send the command string over the serial connection\n",
" self.serial.write(command.encode())\n",
"\n",
" self.serial.write(command)\n",
" print(command)\n",
"\n",
" def set_speed(self, speed):\n",
" # Send the motor speed command using send_command\n",
" # Use the format 'M<speed>\\n'\n",
" self.send_command(f\"M{speed}\\n\")\n",
" self.send_command(f\"M{speed}\\n\".encode())\n",
"\n",
"\n",
" def set_angle(self, angle):\n",
" # Send the steering angle command using send_command\n",
" # Use the format 'D<angle>\\n'\n",
" self.send_command(f\"D{angle}\\n\")\n",
" self.send_command(f\"D{angle}\\n\".encode())\n",
"\n",
"\n",
" def stop(self):\n",
@ -529,12 +628,12 @@
" def start_beacon(self):\n",
" # Send commands to start the beacon\n",
" # Use the command 'A1\\n'\n",
" self.send_command(\"A1\\n\")\n",
" self.send_command(b\"A1\\n\")\n",
"\n",
" def stop_beacon(self):\n",
" # Send commands to stop the beacon\n",
" # Use the command 'A0\\n'\n",
" self.send_command(\"A0\\n\")\n",
" self.send_command(b\"A0\\n\")\n",
"\n",
" def close(self):\n",
" # Close the serial connection\n",
@ -542,13 +641,13 @@
" self.serial.close()\n"
],
"outputs": [],
"execution_count": 20
"execution_count": 44
},
{
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-19T20:47:26.839827Z",
"start_time": "2025-11-19T20:47:26.826565Z"
"end_time": "2025-11-21T10:27:11.326406Z",
"start_time": "2025-11-21T10:27:11.323674Z"
}
},
"cell_type": "code",
@ -578,7 +677,6 @@
" elif command == \"r\":\n",
" kitt.stop_beacon()\n",
" elif command == \"q\":\n",
" kitt.close()\n",
" break\n",
"\n",
" # TODO: depending on the command, adjust the car speed, steering angle, or start/stop the beacon variable\n",
@ -600,13 +698,13 @@
" kitt.close()"
],
"outputs": [],
"execution_count": 21
"execution_count": 45
},
{
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-19T20:47:41.559047Z",
"start_time": "2025-11-19T20:47:30.566425Z"
"end_time": "2025-11-21T10:29:28.965385Z",
"start_time": "2025-11-21T10:29:01.281710Z"
}
},
"cell_type": "code",
@ -622,46 +720,35 @@
" wasd_control(kitt)"
],
"outputs": [
{
"data": {
"text/plain": [
"Canvas(height=520, width=520)"
],
"application/vnd.jupyter.widget-view+json": {
"version_major": 2,
"version_minor": 0,
"model_id": "bf6b02cc69244330a431bf392738a083"
}
},
"metadata": {},
"output_type": "display_data",
"jetTransient": {
"display_id": null
}
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Control the car with W (forward), S (backward), A (left), D (right), E (start beacon), R (stop beacon), and Q (to exit).\n"
]
},
{
"ename": "KeyboardInterrupt",
"evalue": "Interrupted by user",
"output_type": "error",
"traceback": [
"\u001B[31m---------------------------------------------------------------------------\u001B[39m",
"\u001B[31mKeyboardInterrupt\u001B[39m Traceback (most recent call last)",
"\u001B[36mCell\u001B[39m\u001B[36m \u001B[39m\u001B[32mIn[22]\u001B[39m\u001B[32m, line 9\u001B[39m\n\u001B[32m 6\u001B[39m kitt = KITT(\u001B[33m'\u001B[39m\u001B[33m/dev/rfcomm2\u001B[39m\u001B[33m'\u001B[39m) \u001B[38;5;66;03m# Replace with the actual port\u001B[39;00m\n\u001B[32m 8\u001B[39m \u001B[38;5;66;03m# Start the control function\u001B[39;00m\n\u001B[32m----> \u001B[39m\u001B[32m9\u001B[39m \u001B[43mwasd_control\u001B[49m\u001B[43m(\u001B[49m\u001B[43mkitt\u001B[49m\u001B[43m)\u001B[49m\n",
"\u001B[36mCell\u001B[39m\u001B[36m \u001B[39m\u001B[32mIn[21]\u001B[39m\u001B[32m, line 12\u001B[39m, in \u001B[36mwasd_control\u001B[39m\u001B[34m(kitt)\u001B[39m\n\u001B[32m 9\u001B[39m \u001B[38;5;28;01mtry\u001B[39;00m:\n\u001B[32m 10\u001B[39m \u001B[38;5;28;01mwhile\u001B[39;00m \u001B[38;5;28;01mTrue\u001B[39;00m:\n\u001B[32m 11\u001B[39m \u001B[38;5;66;03m# Read input from the user\u001B[39;00m\n\u001B[32m---> \u001B[39m\u001B[32m12\u001B[39m command = \u001B[38;5;28;43minput\u001B[39;49m\u001B[43m(\u001B[49m\u001B[33;43m\"\u001B[39;49m\u001B[33;43mEnter command: \u001B[39;49m\u001B[33;43m\"\u001B[39;49m\u001B[43m)\u001B[49m.lower()\n\u001B[32m 13\u001B[39m \u001B[38;5;28;01mif\u001B[39;00m command == \u001B[33m\"\u001B[39m\u001B[33mw\u001B[39m\u001B[33m\"\u001B[39m:\n\u001B[32m 14\u001B[39m car_speed = car_speed + \u001B[32m5\u001B[39m\n",
"\u001B[36mFile \u001B[39m\u001B[32m~/Documents/EE/Y2/IP3/A.K.03/.venv/lib/python3.13/site-packages/ipykernel/kernelbase.py:1396\u001B[39m, in \u001B[36mKernel.raw_input\u001B[39m\u001B[34m(self, prompt)\u001B[39m\n\u001B[32m 1394\u001B[39m msg = \u001B[33m\"\u001B[39m\u001B[33mraw_input was called, but this frontend does not support input requests.\u001B[39m\u001B[33m\"\u001B[39m\n\u001B[32m 1395\u001B[39m \u001B[38;5;28;01mraise\u001B[39;00m StdinNotImplementedError(msg)\n\u001B[32m-> \u001B[39m\u001B[32m1396\u001B[39m \u001B[38;5;28;01mreturn\u001B[39;00m \u001B[38;5;28;43mself\u001B[39;49m\u001B[43m.\u001B[49m\u001B[43m_input_request\u001B[49m\u001B[43m(\u001B[49m\n\u001B[32m 1397\u001B[39m \u001B[43m \u001B[49m\u001B[38;5;28;43mstr\u001B[39;49m\u001B[43m(\u001B[49m\u001B[43mprompt\u001B[49m\u001B[43m)\u001B[49m\u001B[43m,\u001B[49m\n\u001B[32m 1398\u001B[39m \u001B[43m \u001B[49m\u001B[38;5;28;43mself\u001B[39;49m\u001B[43m.\u001B[49m\u001B[43m_get_shell_context_var\u001B[49m\u001B[43m(\u001B[49m\u001B[38;5;28;43mself\u001B[39;49m\u001B[43m.\u001B[49m\u001B[43m_shell_parent_ident\u001B[49m\u001B[43m)\u001B[49m\u001B[43m,\u001B[49m\n\u001B[32m 1399\u001B[39m \u001B[43m \u001B[49m\u001B[38;5;28;43mself\u001B[39;49m\u001B[43m.\u001B[49m\u001B[43mget_parent\u001B[49m\u001B[43m(\u001B[49m\u001B[33;43m\"\u001B[39;49m\u001B[33;43mshell\u001B[39;49m\u001B[33;43m\"\u001B[39;49m\u001B[43m)\u001B[49m\u001B[43m,\u001B[49m\n\u001B[32m 1400\u001B[39m \u001B[43m \u001B[49m\u001B[43mpassword\u001B[49m\u001B[43m=\u001B[49m\u001B[38;5;28;43;01mFalse\u001B[39;49;00m\u001B[43m,\u001B[49m\n\u001B[32m 1401\u001B[39m \u001B[43m\u001B[49m\u001B[43m)\u001B[49m\n",
"\u001B[36mFile \u001B[39m\u001B[32m~/Documents/EE/Y2/IP3/A.K.03/.venv/lib/python3.13/site-packages/ipykernel/kernelbase.py:1441\u001B[39m, in \u001B[36mKernel._input_request\u001B[39m\u001B[34m(self, prompt, ident, parent, password)\u001B[39m\n\u001B[32m 1438\u001B[39m \u001B[38;5;28;01mexcept\u001B[39;00m \u001B[38;5;167;01mKeyboardInterrupt\u001B[39;00m:\n\u001B[32m 1439\u001B[39m \u001B[38;5;66;03m# re-raise KeyboardInterrupt, to truncate traceback\u001B[39;00m\n\u001B[32m 1440\u001B[39m msg = \u001B[33m\"\u001B[39m\u001B[33mInterrupted by user\u001B[39m\u001B[33m\"\u001B[39m\n\u001B[32m-> \u001B[39m\u001B[32m1441\u001B[39m \u001B[38;5;28;01mraise\u001B[39;00m \u001B[38;5;167;01mKeyboardInterrupt\u001B[39;00m(msg) \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mNone\u001B[39;00m\n\u001B[32m 1442\u001B[39m \u001B[38;5;28;01mexcept\u001B[39;00m \u001B[38;5;167;01mException\u001B[39;00m:\n\u001B[32m 1443\u001B[39m \u001B[38;5;28mself\u001B[39m.log.warning(\u001B[33m\"\u001B[39m\u001B[33mInvalid Message:\u001B[39m\u001B[33m\"\u001B[39m, exc_info=\u001B[38;5;28;01mTrue\u001B[39;00m)\n",
"\u001B[31mKeyboardInterrupt\u001B[39m: Interrupted by user"
"b\"F'\\x10\\n\"\n",
"b'B\\x13\\x88\\n'\n",
"b'R\\t\\xc4\\n'\n",
"b'Cgggg\\n'\n",
"Control the car with W (forward), S (backward), A (left), D (right), E (start beacon), R (stop beacon), and Q (to exit).\n",
"b'M150\\n'\n",
"b'D145\\n'\n",
"b'M150\\n'\n",
"b'D140\\n'\n",
"b'M150\\n'\n",
"b'D135\\n'\n",
"b'M150\\n'\n",
"b'D130\\n'\n",
"b'M150\\n'\n",
"b'D125\\n'\n",
"b'M145\\n'\n",
"b'D125\\n'\n",
"b'M140\\n'\n",
"b'D125\\n'\n",
"b'M150\\n'\n",
"b'D150\\n'\n"
]
}
],
"execution_count": 22
"execution_count": 50
},
{
"metadata": {},
@ -695,7 +782,7 @@
{
"metadata": {
"ExecuteTime": {
"end_time": "2025-11-19T19:27:44.069076Z",
"end_time": "2025-11-21T09:39:10.749553211Z",
"start_time": "2025-11-19T19:27:44.033559Z"
}
},