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Changes to be committed:
	modified:   .gitignore
	modified:   README.md
	new file:   bashes/auto-wifi-connect.service
	new file:   bashes/auto-wifi-connect.sh
	deleted:    keyboard_control.py
	new file:   my_model/image.png
	new file:   path_follower_demo.py
	new file:   scripts/PIDtracking.py
	new file:   scripts/__pycache__/publish_sine_path.cpython-310.pyc
	new file:   scripts/publish_sine_path.py
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak
	new file:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2
	modified:   src/origincar_base/config/ekf.yaml
	new file:   src/origincar_base/config/ekf.yaml.bak
	modified:   src/origincar_base/launch/base_serial.launch.py
	new file:   src/origincar_base/launch/base_serial.launch.py.bak
	modified:   src/origincar_base/launch/origincar_bringup.launch.py
	new file:   src/past_control/CMakeLists.txt
	new file:   src/past_control/config/past_control.yaml
	new file:   src/past_control/include/past_control/tools.h
	new file:   src/past_control/launch/past_control.launch.py
	new file:   src/past_control/msg/Obstacle.msg
	new file:   src/past_control/msg/ObstacleArray.msg
	new file:   src/past_control/package.xml
	new file:   src/past_control/src/lane_follower_node.cpp
	new file:   src/past_control/src/obstacle_detector_node.cpp
	new file:   src/past_control/src/racing_orchestrator.cpp
	new file:   src/planner/CMakeLists.txt
	new file:   src/planner/config/planner.yaml
	new file:   src/planner/launch/planner.launch.py
	new file:   src/planner/package.xml
	new file:   src/planner/src/planner_version.cpp
	modified:   src/qr_detection/src/qr_dete_depth.cpp
	new file:   src/racing_control/CMakeLists.txt
	new file:   src/racing_control/include/racing_control/racing_control.hpp
	new file:   src/racing_control/package.xml
	new file:   src/racing_control/src/racing_control.cpp
	modified:   src/vlm_detect/setup.py
	new file:   src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/test_publisher.py
	new file:   src/vlm_detect/vlm_detect/tts_node.py
	modified:   src/vlm_detect/vlm_detect/vlm_node.py
	new file:   tools/measure_turning_radius.py
	new file:   tools/set_volume.py
	new file:   tools/udp_to_cmdvel.py
	new file:   tools/windows_keyboard_control.py
	new file:   vlm_server.py
	new file:   "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png"
	renamed:    "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"
This commit is contained in:
Orange
2026-06-22 17:16:45 +08:00
parent a9bfeef59b
commit 779b32362a
51 changed files with 3974 additions and 398 deletions
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137
tools/windows_keyboard_control.py Normal file
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#!/usr/bin/env python3
"""
Windows keyboard control → UDP → RDKx5
Simultaneous keys supported (W+A = forward-left, etc.)
Usage:
1. pip install keyboard
2. Run this script on Windows
3. RDKx5 must be running udp_to_cmdvel node
Controls:
W/S : forward / backward
A/D : turn left / right
Q/E : left-forward / right-forward (single-key diagonal)
Z/C : left-backward / right-backward
Space : emergency stop
I/K : linear speed +/-
J/L : angular speed +/-
Esc : quit
"""
import keyboard
import socket
import struct
import time
import sys
# ========== CONFIG ==========
ROBOT_IP = "192.168.10.210"
UDP_PORT = 9999
# ============================
HELP = """
========================================
Windows Keyboard Control → RDKx5
========================================
W/S : forward / backward
A/D : turn left / right
Q/E : left-forward / right-forward
Z/C : left-backward / right-backward
Space : STOP
I/K : linear speed +/- (step 0.05)
J/L : angular speed +/- (step 0.1)
Esc : quit
========================================
Current: lin=%.2f ang=%.2f
"""
def main():
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
lin_speed = 0.2
ang_speed = 0.5
lin_step = 0.05
ang_step = 0.1
def print_help():
print(HELP % (lin_speed, ang_speed))
print("Connecting to %s:%d ..." % (ROBOT_IP, UDP_PORT))
print_help()
while True:
if keyboard.is_pressed('esc'):
sock.sendto(struct.pack('dd', 0.0, 0.0), (ROBOT_IP, UDP_PORT))
print("\nQuit.")
break
# Speed adjustments (one-shot, debounced by keyboard library)
if keyboard.is_pressed('i'):
lin_speed = round(lin_speed + lin_step, 2)
print_help()
time.sleep(0.15)
continue
if keyboard.is_pressed('k'):
lin_speed = round(max(0.0, lin_speed - lin_step), 2)
print_help()
time.sleep(0.15)
continue
if keyboard.is_pressed('j'):
ang_speed = round(ang_speed + ang_step, 2)
print_help()
time.sleep(0.15)
continue
if keyboard.is_pressed('l'):
ang_speed = round(max(0.0, ang_speed - ang_step), 2)
print_help()
time.sleep(0.15)
continue
# Emergency stop
if keyboard.is_pressed('space'):
sock.sendto(struct.pack('dd', 0.0, 0.0), (ROBOT_IP, UDP_PORT))
print("*** STOP ***")
time.sleep(0.05)
continue
# Combined movement: multi-key support
lin = 0.0
ang = 0.0
if keyboard.is_pressed('w'):
lin += lin_speed
if keyboard.is_pressed('s'):
lin -= lin_speed
if keyboard.is_pressed('a'):
ang += ang_speed
if keyboard.is_pressed('d'):
ang -= ang_speed
# Single-key diagonals (override if used)
if keyboard.is_pressed('q'):
lin, ang = lin_speed, ang_speed
if keyboard.is_pressed('e'):
lin, ang = lin_speed, -ang_speed
if keyboard.is_pressed('z'):
lin, ang = -lin_speed, ang_speed
if keyboard.is_pressed('c'):
lin, ang = -lin_speed, -ang_speed
sock.sendto(struct.pack('dd', round(lin, 3), round(ang, 3)),
(ROBOT_IP, UDP_PORT))
time.sleep(0.05) # 20Hz
if __name__ == "__main__":
print("Installing keyboard library if needed...")
try:
import keyboard
except ImportError:
print("ERROR: 'keyboard' library not installed.")
print("Run: pip install keyboard")
sys.exit(1)
main()