Disk access issue? or maybe frame rate issue?

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mmmarouen
Posts: 7
Joined: Sat Oct 27, 2018 10:47 am

Disk access issue? or maybe frame rate issue?

Postby mmmarouen » Fri Nov 30, 2018 4:19 am

Hi OpenMV support :)
I'm preparing for a DIY robocar and facing trouble recording the rover camera (15s):
I get RED LED blinking twice then the wheels spin like crazy!
The script runs without problems when connected by USB to IDE.
That's why I'm suspecting disk issue.
NB: I'm using SDHC card 4GB on Ubuntu and have no problem accessing the card itself.
Code below, sorry if it's a bit long

Code: Select all

### Imports
import sensor, pyb, math, time, mjpeg
from pyb import LED
from pyb import Pin, Timer

### Constants
steering_direction = -1   # use this to revers the steering if your car goes in the wrong direction
steering_gain = 1.7  # calibration for your car's steering sensitivity
steering_center = 30  # set to your car servo's center point
kp = 0.8   # P term of the PID
ki = 0.0     # I term of the PID
kd = 0.4    # D term of the PID
thd = (240, 255) #threshold for white lanes
MAG_THRESHOLD = 4 #magnitude of line in hough transform
old_error = 0
measured_angle = 0
set_angle = 90 # this is the desired steering angle (straight ahead)
p_term = 0
i_term = 0
d_term = 0
old_time = pyb.millis()
radians_degrees = 57.3 # constant to convert from radians to degrees
blue_led  = LED(3)
record_time=15000

####Helper functions
def constrain(value, min, max):
    if value < min :
        return min
    if value > max :
        return max
    else:
        return value
def steer(angle):
    global steering_gain, cruise_speed, steering_center
    angle = int(round((angle+steering_center)*steering_gain))
    angle = constrain(angle, 0, 180)
    angle = 90 - angle
    angle = radians_degrees * math.tan(angle/radians_degrees) # take the tangent to create a non-linear response curver
    left = (90 - angle) * (cruise_speed/100)
    left = constrain (left, 0, 100)
    right = (90 + angle) * (cruise_speed/100)
    right = constrain (right, 0, 100)
    # Generate a 1KHz square wave on TIM4 with each channel
    ch1.pulse_width_percent(left)
    ch2.pulse_width_percent(right)
def update_pid():
    global old_time, old_error, measured_angle, set_angle
    global p_term, i_term, d_term
    now = pyb.millis()
    dt = now - old_time
    error = set_angle - measured_angle
    de = error - old_error
    p_term = kp * error
    i_term += ki * error
    i_term = constrain(i_term, 0, 100)
    d_term = (de / dt) * kd
    old_error = error
    output = steering_direction * (p_term + i_term + d_term)
    output = constrain(output, -50, 50)
    return output
    
###Init: Motor pins
pinADir0 = pyb.Pin('P0', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
pinADir1 = pyb.Pin('P1', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
pinBDir0 = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
pinBDir1 = pyb.Pin('P3', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)

pinADir0.value(1)
pinADir1.value(0)
pinBDir0.value(0)
pinBDir1.value(1)

tim = Timer(4, freq=1000) # Frequency in Hz
ch1 = tim.channel(1, pyb.Timer.PWM, pin=pyb.Pin("P7"))
ch2 = tim.channel(2, pyb.Timer.PWM, pin=pyb.Pin("P8"))

###Init: Camera
clock = time.clock() # Tracks FPS.
start = pyb.millis()
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQQVGA)
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.skip_frames(time = 2000)

###Init: Recording file
fname1='gs_'+str(pyb.millis())+'.mjpeg'
m_1 = mjpeg.Mjpeg(fname1)

###Init: Binary mask
imbin = sensor.alloc_extra_fb(sensor.width(), sensor.height(), sensor.GRAYSCALE)
imbin.replace(sensor.snapshot())
imbin.clear()
imbin.draw_rectangle(1,20,79,40,fill=True)

start = pyb.millis()
while(pyb.elapsed_millis(start) < record_time):
    clock.tick()
    ######1. Perception
    img = sensor.snapshot().histeq()
    img.binary([thd],mask=imbin)
    img.erode(1)
    line = img.get_regression([thd],roi=(1,20,79,40), robust=True)
    img.draw_rectangle(1,20,79,40)
    ######2. Localization
    deflection_angle = 0
    cruise_speed = 15 # how fast should the car drive, range from 0 to 100
    if line and (line.magnitude() >= MAG_THRESHOLD):
        img.draw_line(line.line(), color=127)
        lane_center=40
        if abs(line.x1()-line.x2())<5:
            lane_center=int((line.x1()+line.x2())/2)
        elif abs(line.y1()-line.y2())<5:
            continue
        else:
            a=(line.y2()-line.y1())/(line.x2()-line.x1())
            b=line.y2()-a*line.x2()
            lane_center=(20-b)/a
        lane_center=constrain(lane_center,0,80)
        img.draw_cross(int(lane_center),20,255)

    ######3. Trajectory generation
        deflection_angle = -math.atan((lane_center-40)/40)
        deflection_angle = math.degrees(deflection_angle)

    ######4. Control
    now = pyb.millis()
    if  now > old_time + 0.02 :  # time has passed since last measurement; do the PID at 50hz
        blue_led.on()
        measured_angle = deflection_angle + 90
        steer_angle = update_pid()
        old_time = now
        steer(steer_angle)
        blue_led.off()
    m_1.add_frame(img)

pinADir0.value(0)
pinADir1.value(0)
pinBDir0.value(0)
pinBDir1.value(0)
m_1.close(clock.fps())
User avatar
kwagyeman
Posts: 2796
Joined: Sun May 24, 2015 2:10 pm

Re: Disk access issue? or maybe frame rate issue?

Postby kwagyeman » Fri Nov 30, 2018 11:52 am

Hi, please record via the IDE and not the camera. Since we don't have much RAM we don't have any FIFO buffers to record with meaning that when recording you adversely affect the frame rate of the system. I heavily recommend not to record anything while doing image processing.
Nyamekye,
mmmarouen
Posts: 7
Joined: Sat Oct 27, 2018 10:47 am

Re: Disk access issue? or maybe frame rate issue?

Postby mmmarouen » Fri Nov 30, 2018 5:32 pm

OK thanks for reply, could you please tell me how to record using the IDE?
User avatar
kwagyeman
Posts: 2796
Joined: Sun May 24, 2015 2:10 pm

Re: Disk access issue? or maybe frame rate issue?

Postby kwagyeman » Sat Dec 01, 2018 1:39 am

Press the record button on the frame buffer.
Nyamekye,

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