AI기반 알티노(ALTINO) 로봇 제어

http://www.saeon.co.kr/main/sub_page.php?page_idx=92

https://www.altinocoding.com/lessons-1-10
http://cars.altinocoding.com/

 

 

 

 

 

 

 

 

www.anaconda.com/products/individual

Anaconda | Individual Edition

 

 

pip install pyserial

 

import time  #운영 체제의 시간 관련 모듈 

import serial #블루투스 시리얼 통신을 위한 모듈

from timeit import default_timer as timer #

import threading # 쓰레드 생성하기 위한 모듈  

 

te=0

tx_d = [2,28,35,1,10,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3]

rx_data= [0,0,0,0,0,0,0,0,0,0];

rx_d = []

rx_d56 = [0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0]

rx_dsensor1 = [0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0]

rx_dsensor2 = [0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0]

speed = 0

connectstate = 0

ser = serial.Serial() #B

ser.baudrate = 115200 #Bluetooth serial baudrate

 

rxcnt=0

 

class SensorData :

    IR = [0,0,0,0,0,0,0]

    Tor = [0,0,0]

    Temp = 0

    CDS = 0

    GSensor = [0,0,0,0]

    MSensor = [0,0,0,0]

    GySensor = [0,0,0,0]

    StVar = 0

    StTor = 0

    Bat = 0

    Remote = 0

    MTemp = 0

    

def delay(ms):

        time.sleep(ms/1000)

        return

 

def check():

    tx_d[26]=255

    te=tx_d[1]

    ircheck =tx_d[21] | 0x01

    tx_d[21]=ircheck

    

    for i in range(3,28):

        te=te+tx_d[i]

 

    te=te%256

 

    tx_d[2]=te

    

       

    ser.write(bytearray(tx_d))

 

   

    return

 

def Go(left, right):

    if left>1000:

        left=1000

    if left<-1000:

        left=-1000

 

    if right>1000:

        right=1000

    if right<-1000:

        right=-1000

 

    if left<0:

        left=32768-left

    

    if right<0:

        right=32768-right

    

    tx_d[7]=int(right//256)

    tx_d[8]=int(right%256)

     

    tx_d[10]=int(left//256)

    tx_d[11]=int(left%256)

    

    #check()

    return

 

def Display(dot):     

 

    

    

    if type(dot)==int :

        if dot > 128 :

            dot=dot-128

        elif dot>0:

            dot=128+dot

        

        tx_d[12]=dot

    else :

        tx_d[12]=128+ord(dot)

 

    tx_d[13]=0

    tx_d[14]=0

    tx_d[15]=0

    tx_d[16]=0

    tx_d[17]=0

    tx_d[18]=0

    tx_d[19]=0

    tx_d[20]=0

                

    #check()

                

    return

 

def DisplayLine(dot1, dot2, dot3, dot4, dot5, dot6, dot7, dot8):

    tx_d[12]=0

    

 

    tx_d[13]=dot8

    tx_d[14]=dot7

    tx_d[15]=dot6

    tx_d[16]=dot5

    tx_d[17]=dot4

    tx_d[18]=dot3

    tx_d[19]=dot2

    tx_d[20]=dot1

                

    #check()

                

    return    

 

def Displayon(x, y) :

    tx_d[12]=0

    

    dotx=tx_d[21-x]

    tx_d[21-x]=dotx | pow(2,(y-1))  

                

    #check()

                

    return

 

def Displayoff(x, y) :

    tx_d[12]=0

    

    dotx=tx_d[21-x]

    tx_d[21-x]= dotx & (255-pow(2,(y-1)))  

                

    #check()

                

    return

 

 

def Sound(buzzer) :

    tx_d[22]=buzzer

    #check()

    return

 

def Light(led) :

    tx_d[21]=int(led//256)

    tx_d[23]=int(led%256)

    # check()    

    return

 

 

        

def Led(led):

    Light(led)    

    return

 

 

def Steering(st):

    tx_d[24]=0

    tx_d[5]=st

    #check()

    return

 

def Steering2(value1, value2):

    if value1>127:

        value1=127

    if value1<-127:

        value1=-127

    if value2>127:

        value2=127

    if value2<-127:

        value1=-127

 

    if value1<0:

        value1=128-value1

 

    if value2<0:

        value2=128-value2

 

    tx_d[24]=1

    tx_d[5]=value1

    tx_d[25]=value2

    #check()

    return

 

def Steering3(value1):

    if value1>127:

        value1=127

    if value1<-127:

        value1=-127

    

 

    if value1<0:

        value1=128-value1

    

 

    tx_d[24]=1

    tx_d[5]=value1

    tx_d[25]=0

    #check()

    return

 

def checkdata56():

    rx_check_sum=0

    if rx_d56[0]==2 and rx_d56[55] == 3 and rx_d56[1] == 56:

        rx_check_sum = rx_d56[0]

        rx_check_sum = rx_check_sum + rx_d56[1]

        rx_check_sum = rx_check_sum + rx_d56[3]

        rx_check_sum = rx_check_sum + rx_d56[4]

        rx_check_sum = rx_check_sum + rx_d56[5]

        rx_check_sum = rx_check_sum + rx_d56[6]

        rx_check_sum = rx_check_sum + rx_d56[7]

        rx_check_sum = rx_check_sum + rx_d56[8]

        rx_check_sum = rx_check_sum + rx_d56[9]

        rx_check_sum = rx_check_sum + rx_d56[10]

        rx_check_sum = rx_check_sum + rx_d56[11]

        rx_check_sum = rx_check_sum + rx_d56[12]

        rx_check_sum = rx_check_sum + rx_d56[13]

        rx_check_sum = rx_check_sum + rx_d56[14]

        rx_check_sum = rx_check_sum + rx_d56[15]

        rx_check_sum = rx_check_sum + rx_d56[16]

        rx_check_sum = rx_check_sum + rx_d56[17]

        rx_check_sum = rx_check_sum + rx_d56[18]

        rx_check_sum = rx_check_sum + rx_d56[19]

        rx_check_sum = rx_check_sum + rx_d56[20]

        rx_check_sum = rx_check_sum + rx_d56[21]

        rx_check_sum = rx_check_sum + rx_d56[22]

        rx_check_sum = rx_check_sum + rx_d56[23]

        rx_check_sum = rx_check_sum + rx_d56[24]

        rx_check_sum = rx_check_sum + rx_d56[25]

        rx_check_sum = rx_check_sum + rx_d56[26]

        rx_check_sum = rx_check_sum + rx_d56[27]

        rx_check_sum = rx_check_sum + rx_d56[28]

        rx_check_sum = rx_check_sum + rx_d56[29]

        rx_check_sum = rx_check_sum + rx_d56[30]

        rx_check_sum = rx_check_sum + rx_d56[31]    

    

        rx_check_sum = rx_check_sum + rx_d56[32]

        rx_check_sum = rx_check_sum + rx_d56[33]

        rx_check_sum = rx_check_sum + rx_d56[34]

        rx_check_sum = rx_check_sum + rx_d56[35]

        rx_check_sum = rx_check_sum + rx_d56[36]

        rx_check_sum = rx_check_sum + rx_d56[37]

        rx_check_sum = rx_check_sum + rx_d56[38]

        rx_check_sum = rx_check_sum + rx_d56[39]

        rx_check_sum = rx_check_sum + rx_d56[40]

        rx_check_sum = rx_check_sum + rx_d56[41]

        rx_check_sum = rx_check_sum + rx_d56[42]

        rx_check_sum = rx_check_sum + rx_d56[43]

        rx_check_sum = rx_check_sum + rx_d56[44]

        rx_check_sum = rx_check_sum + rx_d56[45]

        rx_check_sum = rx_check_sum + rx_d56[46]

        rx_check_sum = rx_check_sum + rx_d56[47]

        rx_check_sum = rx_check_sum + rx_d56[48]

        rx_check_sum = rx_check_sum + rx_d56[49]

        rx_check_sum = rx_check_sum + rx_d56[50]

        rx_check_sum = rx_check_sum + rx_d56[51]

        rx_check_sum = rx_check_sum + rx_d56[52]

        rx_check_sum = rx_check_sum + rx_d56[53]

        rx_check_sum = rx_check_sum + rx_d56[54]

        rx_check_sum = rx_check_sum + rx_d56[55]

 

        rx_check_sum = rx_check_sum % 256

 

        if rx_check_sum == rx_d56[2]:

            rx_dsensor1[7]=rx_d56[7]

            rx_dsensor1[8]=rx_d56[8]

            rx_dsensor1[9]=rx_d56[9]

            rx_dsensor1[10]=rx_d56[10]

            rx_dsensor1[11]=rx_d56[11]

            rx_dsensor1[12]=rx_d56[12]

            rx_dsensor1[13]=rx_d56[13]

            rx_dsensor1[14]=rx_d56[14]

            rx_dsensor1[15]=rx_d56[15]

            rx_dsensor1[16]=rx_d56[16]

            rx_dsensor1[17]=rx_d56[17]

            rx_dsensor1[18]=rx_d56[18]

 

            rx_dsensor1[19]=rx_d56[19]

            rx_dsensor1[20]=rx_d56[20]

 

            rx_dsensor1[21]=rx_d56[21]

            rx_dsensor1[22]=rx_d56[22]

 

            rx_dsensor1[23]=rx_d56[49]

            rx_dsensor1[24]=rx_d56[50]

 

            rx_dsensor1[25]=rx_d56[43]

            rx_dsensor1[26]=rx_d56[44]

 

            rx_dsensor2[7]=rx_d56[25]

            rx_dsensor2[8]=rx_d56[26]

            rx_dsensor2[9]=rx_d56[27]

            rx_dsensor2[10]=rx_d56[28]

            rx_dsensor2[11]=rx_d56[29]

            rx_dsensor2[12]=rx_d56[30]

 

            rx_dsensor2[13]=rx_d56[31]

            rx_dsensor2[14]=rx_d56[32]

            rx_dsensor2[15]=rx_d56[33]

            rx_dsensor2[16]=rx_d56[34]

            rx_dsensor2[17]=rx_d56[35]

            rx_dsensor2[18]=rx_d56[36]

 

            rx_dsensor2[19]=rx_d56[45]

            rx_dsensor2[20]=rx_d56[46]

            rx_dsensor2[21]=rx_d56[23]

            rx_dsensor2[22]=rx_d56[24]

            rx_dsensor2[23]=rx_d56[47]

            rx_dsensor2[24]=rx_d56[48]

            rx_dsensor2[25]=rx_d56[51]

            rx_dsensor2[26]=rx_d56[52]

 

            rx_dsensor2[27]=rx_d56[37]

            rx_dsensor2[28]=rx_d56[38]

            rx_dsensor2[29]=rx_d56[39]

            rx_dsensor2[30]=rx_d56[40]

            rx_dsensor2[5]=rx_d56[41]

            rx_dsensor2[6]=rx_d56[42]

 

 

def SensorFun(command) :

 

    tx_d[4]=command

 

    check()    

 

    

    rx_d56=ser.read(56)

 

    

    rx_check_sum=0

    if rx_d56[0]==2 and rx_d56[55] == 3 and rx_d56[1] == 56 :

        rx_check_sum = rx_d56[0]

        rx_check_sum = rx_check_sum + rx_d56[1]

        rx_check_sum = rx_check_sum + rx_d56[3]

        rx_check_sum = rx_check_sum + rx_d56[4]

        rx_check_sum = rx_check_sum + rx_d56[5]

        rx_check_sum = rx_check_sum + rx_d56[6]

        rx_check_sum = rx_check_sum + rx_d56[7]

        rx_check_sum = rx_check_sum + rx_d56[8]

        rx_check_sum = rx_check_sum + rx_d56[9]

        rx_check_sum = rx_check_sum + rx_d56[10]

        rx_check_sum = rx_check_sum + rx_d56[11]

        rx_check_sum = rx_check_sum + rx_d56[12]

        rx_check_sum = rx_check_sum + rx_d56[13]

        rx_check_sum = rx_check_sum + rx_d56[14]

        rx_check_sum = rx_check_sum + rx_d56[15]

        rx_check_sum = rx_check_sum + rx_d56[16]

        rx_check_sum = rx_check_sum + rx_d56[17]

        rx_check_sum = rx_check_sum + rx_d56[18]

        rx_check_sum = rx_check_sum + rx_d56[19]

        rx_check_sum = rx_check_sum + rx_d56[20]

        rx_check_sum = rx_check_sum + rx_d56[21]

        rx_check_sum = rx_check_sum + rx_d56[22]

        rx_check_sum = rx_check_sum + rx_d56[23]

        rx_check_sum = rx_check_sum + rx_d56[24]

        rx_check_sum = rx_check_sum + rx_d56[25]

        rx_check_sum = rx_check_sum + rx_d56[26]

        rx_check_sum = rx_check_sum + rx_d56[27]

        rx_check_sum = rx_check_sum + rx_d56[28]

        rx_check_sum = rx_check_sum + rx_d56[29]

        rx_check_sum = rx_check_sum + rx_d56[30]

        rx_check_sum = rx_check_sum + rx_d56[31]

        rx_check_sum = rx_check_sum + rx_d56[32]

        rx_check_sum = rx_check_sum + rx_d56[33]

        rx_check_sum = rx_check_sum + rx_d56[34]

        rx_check_sum = rx_check_sum + rx_d56[35]

        rx_check_sum = rx_check_sum + rx_d56[36]

        rx_check_sum = rx_check_sum + rx_d56[37]

        rx_check_sum = rx_check_sum + rx_d56[38]

        rx_check_sum = rx_check_sum + rx_d56[39]

        rx_check_sum = rx_check_sum + rx_d56[40]

        rx_check_sum = rx_check_sum + rx_d56[41]

        rx_check_sum = rx_check_sum + rx_d56[42]

        rx_check_sum = rx_check_sum + rx_d56[43]

        rx_check_sum = rx_check_sum + rx_d56[44]

        rx_check_sum = rx_check_sum + rx_d56[45]

        rx_check_sum = rx_check_sum + rx_d56[46]

        rx_check_sum = rx_check_sum + rx_d56[47]

        rx_check_sum = rx_check_sum + rx_d56[48]

        rx_check_sum = rx_check_sum + rx_d56[49]

        rx_check_sum = rx_check_sum + rx_d56[50]

        rx_check_sum = rx_check_sum + rx_d56[51]

        rx_check_sum = rx_check_sum + rx_d56[52]

        rx_check_sum = rx_check_sum + rx_d56[53]

        rx_check_sum = rx_check_sum + rx_d56[54]

        rx_check_sum = rx_check_sum + rx_d56[55]

 

        rx_check_sum = rx_check_sum % 256

 

        if rx_check_sum == rx_d56[2]:

            rx_dsensor1[7]=rx_d56[7]

            rx_dsensor1[8]=rx_d56[8]

            rx_dsensor1[9]=rx_d56[9]

            rx_dsensor1[10]=rx_d56[10]

            rx_dsensor1[11]=rx_d56[11]

            rx_dsensor1[12]=rx_d56[12]

            rx_dsensor1[13]=rx_d56[13]

            rx_dsensor1[14]=rx_d56[14]

            rx_dsensor1[15]=rx_d56[15]

            rx_dsensor1[16]=rx_d56[16]

            rx_dsensor1[17]=rx_d56[17]

            rx_dsensor1[18]=rx_d56[18]

 

            rx_dsensor1[19]=rx_d56[19]

            rx_dsensor1[20]=rx_d56[20]

 

            rx_dsensor1[21]=rx_d56[21]

            rx_dsensor1[22]=rx_d56[22]

 

            rx_dsensor1[23]=rx_d56[49]

            rx_dsensor1[24]=rx_d56[50]

 

            rx_dsensor1[25]=rx_d56[43]

            rx_dsensor1[26]=rx_d56[44]

 

            rx_dsensor2[7]=rx_d56[25]

            rx_dsensor2[8]=rx_d56[26]

            rx_dsensor2[9]=rx_d56[27]

            rx_dsensor2[10]=rx_d56[28]

            rx_dsensor2[11]=rx_d56[29]

            rx_dsensor2[12]=rx_d56[30]

 

            rx_dsensor2[13]=rx_d56[31]

            rx_dsensor2[14]=rx_d56[32]

            rx_dsensor2[15]=rx_d56[33]

            rx_dsensor2[16]=rx_d56[34]

            rx_dsensor2[17]=rx_d56[35]

            rx_dsensor2[18]=rx_d56[36]

 

            rx_dsensor2[19]=rx_d56[45]

            rx_dsensor2[20]=rx_d56[46]

            rx_dsensor2[21]=rx_d56[23]

            rx_dsensor2[22]=rx_d56[24]

            rx_dsensor2[23]=rx_d56[47]

            rx_dsensor2[24]=rx_d56[48]

            rx_dsensor2[25]=rx_d56[51]

            rx_dsensor2[26]=rx_d56[52]

 

            rx_dsensor2[27]=rx_d56[37]

            rx_dsensor2[28]=rx_d56[38]

            rx_dsensor2[29]=rx_d56[39]

            rx_dsensor2[30]=rx_d56[40]

            rx_dsensor2[5]=rx_d56[41]

            rx_dsensor2[6]=rx_d56[42]    

 

    

    

    

    

       

    

    sensordata1 = SensorData

 

    sensordata1.IR[0]=rx_dsensor1[7] * 256 + rx_dsensor1[8]

    sensordata1.IR[1]=rx_dsensor1[9] * 256 + rx_dsensor1[10]

    sensordata1.IR[2]=rx_dsensor1[11] * 256 + rx_dsensor1[12]

    sensordata1.IR[3]=rx_dsensor1[13] * 256 + rx_dsensor1[14]

    sensordata1.IR[4]=rx_dsensor1[15] * 256 + rx_dsensor1[16]

    sensordata1.IR[5]=rx_dsensor1[17] * 256 + rx_dsensor1[18]

 

    sensordata1.Tor[0]=rx_dsensor1[19] * 256 + rx_dsensor1[20]

    sensordata1.Tor[1]=rx_dsensor1[21] * 256 + rx_dsensor1[22]

 

    sensordata1.Temp = rx_dsensor1[23] * 256 + rx_dsensor1[24]

 

    sensordata1.CDS = rx_dsensor1[25] * 256 + rx_dsensor1[26]

 

    

    

    sensordata1.GSensor[0]=rx_dsensor2[7] * 256 + rx_dsensor2[8]

    sensordata1.GSensor[1]=rx_dsensor2[9] * 256 + rx_dsensor2[10]

    sensordata1.GSensor[2]=rx_dsensor2[11] * 256 + rx_dsensor2[12]

 

 

 

    temp=0

    temp=sensordata1.GSensor[0]//16

    sensordata1.GSensor[0]=temp

 

    temp=0

    temp=sensordata1.GSensor[1]//16

    sensordata1.GSensor[1]=temp

 

    temp=0

    temp=sensordata1.GSensor[2]//16

    sensordata1.GSensor[2]=temp

    

    

 

    if sensordata1.GSensor[0]>2048 :

        sensordata1.GSensor[0]=sensordata1.GSensor[0]- 4096

    

 

    if sensordata1.GSensor[1]>2048 :

        sensordata1.GSensor[1]=sensordata1.GSensor[1]-4096

    

    

    if sensordata1.GSensor[2]>2048 :

        sensordata1.GSensor[2]=sensordata1.GSensor[2]-4096

 

    sensordata1.MSensor[0]=rx_dsensor2[13] * 256 + rx_dsensor2[14]

    sensordata1.MSensor[1]=rx_dsensor2[15] * 256 + rx_dsensor2[16]

    sensordata1.MSensor[2]=rx_dsensor2[17] * 256 + rx_dsensor2[18]

        

    sensordata1.StVar = rx_dsensor2[19] * 256 + rx_dsensor2[20]

    sensordata1.StTor = rx_dsensor2[21] * 256 + rx_dsensor2[22]

    sensordata1.Bat = rx_dsensor2[23] * 256 + rx_dsensor2[24]

 

    sensordata1.Remote = rx_dsensor2[25]

    sensordata1.MTemp = rx_dsensor2[26]

 

    sensordata1.GySensor[0]=rx_dsensor2[27] * 256 + rx_dsensor2[28]

    sensordata1.GySensor[1]=rx_dsensor2[29] * 256 + rx_dsensor2[30]

    sensordata1.GySensor[2]=rx_dsensor2[5] * 256 + rx_dsensor2[6]

    

   

    

    if sensordata1.MSensor[0]>32768 :

        sensordata1.MSensor[0]=sensordata1.MSensor[0]-65535

    

    if sensordata1.MSensor[1]>32768 :

        sensordata1.MSensor[1]=sensordata1.MSensor[1]-65535

    

    if sensordata1.MSensor[2]>32768 :

        sensordata1.MSensor[2]=sensordata1.MSensor[2]-65535

    

    if sensordata1.GySensor[0]>32768 :

        sensordata1.GySensor[0]=sensordata1.GySensor[0]-65535

 

    if sensordata1.GySensor[1]>32768 :

        sensordata1.GySensor[1]=sensordata1.GySensor[1]-65535

    

    if sensordata1.GySensor[2]>32768 :

        sensordata1.GySensor[2]=sensordata1.GySensor[2]-65535

    

    return sensordata1

 

 

 

sensor=SensorData

 

def startTimer():

    global connectstate

    global rxcnt

    

    if connectstate == 1 :

        try :

            timer = threading.Timer(0.08, startTimer)

            timer.start()

            sensor = SensorFun(10)            

        except KeyboardInterrupt:

            print("kkkkkkkkkkkkkkkk")

            Close()

 

 

def Open(portName='') :

    global connectstate

    global ser   

    ser.port=portName #Bluetooth serial port

    ser.open()

    connectstate = 1

    delay(1000)

    startTimer()

    print("Bluetooth connect")

    

 

def Close() :

    global connectstate

    delay(1000)

    connectstate = 0    

    ser.close()

    print("Bluetooth disconnect")

    

    

    

from Altino import *

 

Open('com7')

 

#핸들 왼쪽으로 최대

Steering3(-127) 

Go(300,300)

delay(1000)

Go(0,0)

#핸들 중앙으로

Steering3(0)

 

Close()

 

 

 

from Altino import *

Open('com7')

while 1:

    try :

            #조도값

            if sensor.CDS < 100 :

                Sound(37)

            else :

                Sound(0)

    except :

        break

Close()

 

 

from Altino import *

 

Open('com7')

 

while 1:

    try :            

            if sensor.IR[1] >300 :

                Sound(37)

            else :

                Sound(0)

    except :

        break

 

Close()

 

 

 

1.1.1.1. AI 자율주행 자동차 로봇 2번 적외선 센서로 조향제어하기[훈련]

 

from keras.models import Sequential

from keras.layers import Dense, Activation

import numpy as np

 

x_train = [0,  3,   6,    10,   15, 25,  50, 90, 200, 700, 800, 900]

y_train = [1,  10,   20,   40,   60, 80, 100, 110, 120, 120, 120, 120]

print("x", x_train)

print("y", y_train)

 

model = Sequential()

model.add(Dense(2, activation='relu', input_dim=1))

model.add(Dense(100))

model.add(Dense(10))

model.add(Dense(1, activation='linear'))

 

model.compile(loss='mse', optimizer='Adam', metrics=['accuracy'])

model.summary()

model.fit(x_train, y_train,  batch_size=10, epochs=1000)

loss_and_metrics = model.evaluate(x_train, y_train, batch_size=5)

print('## evaluation loss and_metrics ##')

print(loss_and_metrics)

print(model.predict(np.array([500])))

 

model.save('model3_2.h5')

 

 

AI 자율주행 자동차 로봇 2번 적외선 센서로 조향제어하기[실행]

 

from keras.models import load_model

from Altino import *

import numpy as np

 

model = load_model('model3_2.h5')

 

Open('com7')

 

result = 0

while 1: 

    try :

        # 중앙 센서에 값이 커지면 핸들을 오른쪽으로 돌림

        result = model.predict(np.array([sensor.IR[1]]))

        Steering3(int(result))

    except :

        break

 

Close()

 

 

AI 자율주행 자동차 로봇 2번 적외선 센서로 조향제어하기[훈련]

 

from keras.models import Sequential

from keras.layers import Dense, Activation

from keras import optimizers

import matplotlib.pyplot as plt

import numpy as np

 

data = np.loadtxt("STEERING44.csv", delimiter=",", dtype=np.int16)

x_train = data[:, 0:5]

y_train = data[:, 5:12]

print("x", x_train)

print("y", y_train)

 

model = Sequential()

model.add(Dense(2, activation='linear', input_dim=5))

model.add(Dense(4))

model.add(Dense(44))

model.add(Dense(4))

model.add(Dense(7))

model.add(Activation('sigmoid'))

 

sgd=optimizers.SGD(lr=0.00001)

model.compile(optimizer=sgd, loss='mean_squared_error', metrics=['accuracy'])

model.summary()

 

history = model.fit(x_train, y_train, epochs=200000, batch_size=10)

 

plt.plot(history.history['loss'])

plt.title('model loss')

plt.ylabel('loss')

plt.xlabel('epoch')

plt.legend(['train', 'test'], loc='upper left')

plt.show()

 

loss_and_metrics = model.evaluate(x_train, y_train, batch_size=32)

print('## evaluation loss and_metrics ##')

 

print(loss_and_metrics)

 

y_predict = model.predict(x_train)

print(y_predict)

print(y_predict[0,0])

 

ret=model.predict(np.array([[0, 0, 50, 50, 0]]))

print(max(ret[0,0:6]))

 

model.save('model_2ch_14_3.h5')

 

 

 

AI 자율주행 자동차 로봇 2번 적외선 센서로 조향제어하기[실행]

 

 

from keras.models import load_model

from Altino import *

import numpy as np

 

model = load_model('model_2ch_14_3.h5')

 

Open('com3')

 

result = 0

while 1:

    try :

        result = model.predict(np.array([[sensor.IR[0], sensor.IR[1], sensor.IR[2], sensor.IR[3], sensor.IR[4]]]))

        

        if result[0,0] == max(result[0,0:5]) :

            Steering3(0)

        elif result[0,1] == max(result[0,0:5]) :

            Steering3(60)

        elif result[0,2] == max(result[0,0:5]) :

            Steering3(125)

        elif result[0,3] == max(result[0,0:5]) :

            Steering3(-60)

        elif result[0,4] == max(result[0,0:5]) :

            Steering3(-125)    

    

        if result[0,5]>result[0,6] :

            Go(300,300)

        else :

            Go(-350,-350)

    except :

        Go(0,0)

        Steering3(0)

        break

Close()

 

 

 

 

AI 자율주행 자동차 로봇 2번 적외선 센서로 조향제어하기[훈련]

 

 

 

from keras.models import Sequential

from keras.layers import Dense, Activation

from keras import optimizers

import matplotlib.pyplot as plt

import numpy as np

 

data = np.loadtxt("STEERING44.csv", delimiter=",", dtype=np.int16)

x_train = data[:, 0:5]

y_train = data[:, 5:12]

print("x", x_train)

print("y", y_train)

 

model = Sequential()

model.add(Dense(2, activation='linear', input_dim=5))

model.add(Dense(4))

model.add(Dense(44))

model.add(Dense(4))

model.add(Dense(7))

model.add(Activation('sigmoid'))

 

sgd=optimizers.SGD(lr=0.00001)

model.compile(optimizer=sgd, loss='mean_squared_error', metrics=['accuracy'])

model.summary()

 

history = model.fit(x_train, y_train, epochs=1000, batch_size=10)

 

plt.plot(history.history['loss'])

plt.title('model loss')

plt.ylabel('loss')

plt.xlabel('epoch')

plt.legend(['train', 'test'], loc='upper left')

plt.show()

 

loss_and_metrics = model.evaluate(x_train, y_train, batch_size=32)

print('## evaluation loss and_metrics ##')

 

print(loss_and_metrics)

 

y_predict = model.predict(x_train)

print(y_predict)

print(y_predict[0,0])

 

ret=model.predict(np.array([[0, 0, 50, 50, 0]]))

print(max(ret[0,0:6]))

 

model.save('model_2ch_14_3.h5')

 

 

 

 

AI 자율주행 자동차 로봇 2번 적외선 센서로 조향제어하기[실행]

 

from keras.models import load_model

from Altino import *

import numpy as np

 

model = load_model('model_2ch_14_3.h5')

 

Open('com7')

 

result = 0

while 1:

    try :

        result = model.predict(np.array([[sensor.IR[0], sensor.IR[1], sensor.IR[2], sensor.IR[3], sensor.IR[4]]]))

        

        if result[0,0] == max(result[0,0:5]) :

            Steering3(0)

        elif result[0,1] == max(result[0,0:5]) :

            Steering3(60)

        elif result[0,2] == max(result[0,0:5]) :

            Steering3(125)

        elif result[0,3] == max(result[0,0:5]) :

            Steering3(-60)

        elif result[0,4] == max(result[0,0:5]) :

            Steering3(-125)    

    

        if result[0,5]>result[0,6] :

            Go(300,300)

        else :

            Go(-350,-350)

    except :

        Go(0,0)

        Steering3(0)

        break

Close()