myconfig.py

# """ 
# My CAR CONFIG 

# This file is read by your car application's manage.py script to change the car
# performance

# If desired, all config overrides can be specified here. 
# The update operation will not touch this file.
# """

# import os
# 
# #PATHS
# CAR_PATH = PACKAGE_PATH = os.path.dirname(os.path.realpath(__file__))
# DATA_PATH = os.path.join(CAR_PATH, 'data')
# MODELS_PATH = os.path.join(CAR_PATH, 'models')
# 
# #VEHICLE
# DRIVE_LOOP_HZ = 20      # the vehicle loop will pause if faster than this speed.
# MAX_LOOPS = None        # the vehicle loop can abort after this many iterations, when given a positive integer.
# 
# #CAMERA
# CAMERA_TYPE = "PICAM"   # (PICAM|WEBCAM|CVCAM|CSIC|V4L|D435|MOCK|IMAGE_LIST)
# IMAGE_W = 160
# IMAGE_H = 120
# IMAGE_DEPTH = 3         # default RGB=3, make 1 for mono
# CAMERA_FRAMERATE = DRIVE_LOOP_HZ
# CAMERA_VFLIP = False
# CAMERA_HFLIP = False
# # For CSIC camera - If the camera is mounted in a rotated position, changing the below parameter will correct the output frame orientation
# CSIC_CAM_GSTREAMER_FLIP_PARM = 0 # (0 => none , 4 => Flip horizontally, 6 => Flip vertically)
# 
# # For IMAGE_LIST camera
# # PATH_MASK = "~/mycar/data/tub_1_20-03-12/*.jpg"
# 
# #9865, over rides only if needed, ie. TX2..
# PCA9685_I2C_ADDR = 0x40     #I2C address, use i2cdetect to validate this number
# PCA9685_I2C_BUSNUM = None   #None will auto detect, which is fine on the pi. But other platforms should specify the bus num.
# 
# #SSD1306_128_32
# USE_SSD1306_128_32 = False    # Enable the SSD_1306 OLED Display
# SSD1306_128_32_I2C_BUSNUM = 1 # I2C bus number
# 
# #DRIVETRAIN
# #These options specify which chasis and motor setup you are using. Most are using SERVO_ESC.
# #DC_STEER_THROTTLE uses HBridge pwm to control one steering dc motor, and one drive wheel motor
# #DC_TWO_WHEEL uses HBridge pwm to control two drive motors, one on the left, and one on the right.
# #SERVO_HBRIDGE_PWM use ServoBlaster to output pwm control from the PiZero directly to control steering, and HBridge for a drive motor.
# #PIGPIO_PWM uses Raspberrys internal PWM
# DRIVE_TRAIN_TYPE = "SERVO_ESC" # SERVO_ESC|DC_STEER_THROTTLE|DC_TWO_WHEEL|SERVO_HBRIDGE_PWM|PIGPIO_PWM|MM1|MOCK
# 
# #STEERING
# STEERING_CHANNEL = 1            #channel on the 9685 pwm board 0-15
STEERING_LEFT_PWM = 580         #pwm value for full left steering
STEERING_RIGHT_PWM = 220        #pwm value for full right steering
# 
# #STEERING FOR PIGPIO_PWM
# STEERING_PWM_PIN = 13           #Pin numbering according to Broadcom numbers
# STEERING_PWM_FREQ = 50          #Frequency for PWM
# STEERING_PWM_INVERTED = False   #If PWM needs to be inverted
# 
# #THROTTLE
# THROTTLE_CHANNEL = 0            #channel on the 9685 pwm board 0-15
THROTTLE_FORWARD_PWM = 380      #pwm value for max forward throttle
THROTTLE_STOPPED_PWM = 305      #pwm value for no movement
THROTTLE_REVERSE_PWM = 275      #pwm value for max reverse throttle
# 
# #THROTTLE FOR PIGPIO_PWM
# THROTTLE_PWM_PIN = 18           #Pin numbering according to Broadcom numbers
# THROTTLE_PWM_FREQ = 50          #Frequency for PWM
# THROTTLE_PWM_INVERTED = False   #If PWM needs to be inverted
# 
# #DC_STEER_THROTTLE with one motor as steering, one as drive
# #these GPIO pinouts are only used for the DRIVE_TRAIN_TYPE=DC_STEER_THROTTLE
# HBRIDGE_PIN_LEFT = 18
# HBRIDGE_PIN_RIGHT = 16
# HBRIDGE_PIN_FWD = 15
# HBRIDGE_PIN_BWD = 13
# 
# #DC_TWO_WHEEL - with two wheels as drive, left and right.
# #these GPIO pinouts are only used for the DRIVE_TRAIN_TYPE=DC_TWO_WHEEL
# HBRIDGE_PIN_LEFT_FWD = 18
# HBRIDGE_PIN_LEFT_BWD = 16
# HBRIDGE_PIN_RIGHT_FWD = 15
# HBRIDGE_PIN_RIGHT_BWD = 13
# 
# 
# #TRAINING
# #The DEFAULT_MODEL_TYPE will choose which model will be created at training time. This chooses
# #between different neural network designs. You can override this setting by passing the command
# #line parameter --type to the python manage.py train and drive commands.
# DEFAULT_MODEL_TYPE = 'linear'   #(linear|categorical|rnn|imu|behavior|3d|localizer|latent)
# BATCH_SIZE = 128                #how many records to use when doing one pass of gradient decent. Use a smaller number if your gpu is running out of memory.
# TRAIN_TEST_SPLIT = 0.8          #what percent of records to use for training. the remaining used for validation.
# MAX_EPOCHS = 100                #how many times to visit all records of your data
# SHOW_PLOT = True                #would you like to see a pop up display of final loss?
# VERBOSE_TRAIN = True             #would you like to see a progress bar with text during training?
# USE_EARLY_STOP = True           #would you like to stop the training if we see it's not improving fit?
# EARLY_STOP_PATIENCE = 5         #how many epochs to wait before no improvement
# MIN_DELTA = .0005               #early stop will want this much loss change before calling it improved.
# PRINT_MODEL_SUMMARY = True      #print layers and weights to stdout
# OPTIMIZER = None                #adam, sgd, rmsprop, etc.. None accepts default
# LEARNING_RATE = 0.001           #only used when OPTIMIZER specified
# LEARNING_RATE_DECAY = 0.0       #only used when OPTIMIZER specified
# SEND_BEST_MODEL_TO_PI = False   #change to true to automatically send best model during training
# CACHE_IMAGES = True             #keep images in memory. will speed succesive epochs, but crater if not enough mem.
# 
# PRUNE_CNN = False               #This will remove weights from your model. The primary goal is to increase performance.
# PRUNE_PERCENT_TARGET = 75       # The desired percentage of pruning.
# PRUNE_PERCENT_PER_ITERATION = 20 # Percenge of pruning that is perform per iteration.
# PRUNE_VAL_LOSS_DEGRADATION_LIMIT = 0.2 # The max amout of validation loss that is permitted during pruning.
# PRUNE_EVAL_PERCENT_OF_DATASET = .05  # percent of dataset used to perform evaluation of model.
# 
# #Pi login information
# #When using the continuous train option, these credentials will
# #be used to copy the final model to your vehicle. If not using this option, no need to set these.
# PI_USERNAME = "pi"                  # username on pi
# PI_PASSWD = "raspberry"             # password is optional. Only used from Windows machine. Ubuntu and mac users should copy their public keys to the pi. `ssh-copy-id username@hostname`
# PI_HOSTNAME = "raspberrypi.local"   # the network hostname or ip address
# PI_DONKEY_ROOT = "/home/pi/mycar"   # the location of the mycar dir on the pi. this will be used to help locate the final model destination.
# 
# # Region of interst cropping
# # only supported in Categorical and Linear models.
# # If these crops values are too large, they will cause the stride values to become negative and the model with not be valid.
# ROI_CROP_TOP = 0                    #the number of rows of pixels to ignore on the top of the image
# ROI_CROP_BOTTOM = 0                 #the number of rows of pixels to ignore on the bottom of the image
# 
# #Model transfer options
# #When copying weights during a model transfer operation, should we freeze a certain number of layers
# #to the incoming weights and not allow them to change during training?
# FREEZE_LAYERS = False               #default False will allow all layers to be modified by training
# NUM_LAST_LAYERS_TO_TRAIN = 7        #when freezing layers, how many layers from the last should be allowed to train?
# 
# #WEB CONTROL
# WEB_CONTROL_PORT = int(os.getenv("WEB_CONTROL_PORT", 8887))  # which port to listen on when making a web controller
# WEB_INIT_MODE = "user"              # which control mode to start in. one of user|local_angle|local. Setting local will start in ai mode.
# 
# #JOYSTICK
# USE_JOYSTICK_AS_DEFAULT = False     #when starting the manage.py, when True, will not require a --js option to use the joystick
# JOYSTICK_MAX_THROTTLE = 0.5         #this scalar is multiplied with the -1 to 1 throttle value to limit the maximum throttle. This can help if you drop the controller or just don't need the full speed available.
# JOYSTICK_STEERING_SCALE = 1.0       #some people want a steering that is less sensitve. This scalar is multiplied with the steering -1 to 1. It can be negative to reverse dir.
# AUTO_RECORD_ON_THROTTLE = True      #if true, we will record whenever throttle is not zero. if false, you must manually toggle recording with some other trigger. Usually circle button on joystick.
# CONTROLLER_TYPE='ps3'               #(ps3|ps4|xbox|nimbus|wiiu|F710|rc3|MM1|custom) custom will run the my_joystick.py controller written by the `donkey createjs` command
# USE_NETWORKED_JS = False            #should we listen for remote joystick control over the network?
# NETWORK_JS_SERVER_IP = "192.168.0.1"#when listening for network joystick control, which ip is serving this information
# JOYSTICK_DEADZONE = 0.0             # when non zero, this is the smallest throttle before recording triggered.
# JOYSTICK_THROTTLE_DIR = -1.0        # use -1.0 to flip forward/backward, use 1.0 to use joystick's natural forward/backward
# USE_FPV = False                     # send camera data to FPV webserver
# JOYSTICK_DEVICE_FILE = "/dev/input/js0" # this is the unix file use to access the joystick.
# 
# #For the categorical model, this limits the upper bound of the learned throttle
# #it's very IMPORTANT that this value is matched from the training PC config.py and the robot.py
# #and ideally wouldn't change once set.
# MODEL_CATEGORICAL_MAX_THROTTLE_RANGE = 0.5
# 
# #RNN or 3D
# SEQUENCE_LENGTH = 3             #some models use a number of images over time. This controls how many.
# 
# #IMU
# HAVE_IMU = False                #when true, this add a Mpu6050 part and records the data. Can be used with a
# IMU_SENSOR = 'mpu6050'          # (mpu6050|mpu9250)
# IMU_DLP_CONFIG = 0              # Digital Lowpass Filter setting (0:250Hz, 1:184Hz, 2:92Hz, 3:41Hz, 4:20Hz, 5:10Hz, 6:5Hz)
# 
# #SOMBRERO
# HAVE_SOMBRERO = False           #set to true when using the sombrero hat from the Donkeycar store. This will enable pwm on the hat.
# 
# #ROBOHAT MM1
# HAVE_ROBOHAT = False            # set to true when using the Robo HAT MM1 from Robotics Masters.  This will change to RC Control.
# MM1_STEERING_MID = 1500         # Adjust this value if your car cannot run in a straight line
# MM1_MAX_FORWARD = 2000          # Max throttle to go fowrward. The bigger the faster
# MM1_STOPPED_PWM = 1500
# MM1_MAX_REVERSE = 1000          # Max throttle to go reverse. The smaller the faster
# MM1_SHOW_STEERING_VALUE = False
# # Serial port 
# # -- Default Pi: '/dev/ttyS0'
# # -- Jetson Nano: '/dev/ttyTHS1'
# # -- Google coral: '/dev/ttymxc0'
# # -- Windows: 'COM3', Arduino: '/dev/ttyACM0'
# # -- MacOS/Linux:please use 'ls /dev/tty.*' to find the correct serial port for mm1 
# #  eg.'/dev/tty.usbmodemXXXXXX' and replace the port accordingly
# MM1_SERIAL_PORT = '/dev/ttyS0'  # Serial Port for reading and sending MM1 data.
# 
# #RECORD OPTIONS
# RECORD_DURING_AI = False        #normally we do not record during ai mode. Set this to true to get image and steering records for your Ai. Be careful not to use them to train.
# 
# #LED
# HAVE_RGB_LED = False            #do you have an RGB LED like https://www.amazon.com/dp/B07BNRZWNF
# LED_INVERT = False              #COMMON ANODE? Some RGB LED use common anode. like https://www.amazon.com/Xia-Fly-Tri-Color-Emitting-Diffused/dp/B07MYJQP8B
# 
# #LED board pin number for pwm outputs
# #These are physical pinouts. See: https://www.raspberrypi-spy.co.uk/2012/06/simple-guide-to-the-rpi-gpio-header-and-pins/
# LED_PIN_R = 12
# LED_PIN_G = 10
# LED_PIN_B = 16
# 
# #LED status color, 0-100
# LED_R = 0
# LED_G = 0
# LED_B = 1
# 
# #LED Color for record count indicator
# REC_COUNT_ALERT = 1000          #how many records before blinking alert
# REC_COUNT_ALERT_CYC = 15        #how many cycles of 1/20 of a second to blink per REC_COUNT_ALERT records
# REC_COUNT_ALERT_BLINK_RATE = 0.4 #how fast to blink the led in seconds on/off
# 
# #first number is record count, second tuple is color ( r, g, b) (0-100)
# #when record count exceeds that number, the color will be used
# RECORD_ALERT_COLOR_ARR = [ (0, (1, 1, 1)),
#             (3000, (5, 5, 5)),
#             (5000, (5, 2, 0)),
#             (10000, (0, 5, 0)),
#             (15000, (0, 5, 5)),
#             (20000, (0, 0, 5)), ]
# 
# 
# #LED status color, 0-100, for model reloaded alert
# MODEL_RELOADED_LED_R = 100
# MODEL_RELOADED_LED_G = 0
# MODEL_RELOADED_LED_B = 0
# 
# 
# #BEHAVIORS
# #When training the Behavioral Neural Network model, make a list of the behaviors,
# #Set the TRAIN_BEHAVIORS = True, and use the BEHAVIOR_LED_COLORS to give each behavior a color
# TRAIN_BEHAVIORS = False
# BEHAVIOR_LIST = ['Left_Lane', "Right_Lane"]
# BEHAVIOR_LED_COLORS =[ (0, 10, 0), (10, 0, 0) ] #RGB tuples 0-100 per chanel
# 
# #Localizer
# #The localizer is a neural network that can learn to predice it's location on the track.
# #This is an experimental feature that needs more developement. But it can currently be used
# #to predict the segement of the course, where the course is divided into NUM_LOCATIONS segments.
# TRAIN_LOCALIZER = False
# NUM_LOCATIONS = 10
# BUTTON_PRESS_NEW_TUB = False #when enabled, makes it easier to divide our data into one tub per track length if we make a new tub on each X button press.
# 
# #DonkeyGym
# #Only on Ubuntu linux, you can use the simulator as a virtual donkey and
# #issue the same python manage.py drive command as usual, but have them control a virtual car.
# #This enables that, and sets the path to the simualator and the environment.
# #You will want to download the simulator binary from: https://github.com/tawnkramer/donkey_gym/releases/download/v18.9/DonkeySimLinux.zip
# #then extract that and modify DONKEY_SIM_PATH.
# DONKEY_GYM = False
# DONKEY_SIM_PATH = "path to sim" #"/home/tkramer/projects/sdsandbox/sdsim/build/DonkeySimLinux/donkey_sim.x86_64" when racing on virtual-race-league use "remote", or user "remote" when you want to start the sim manually first.
# DONKEY_GYM_ENV_NAME = "donkey-mountain-track-v0" # ("donkey-generated-track-v0"|"donkey-generated-roads-v0"|"donkey-warehouse-v0"|"donkey-avc-sparkfun-v0")
# GYM_CONF = { "body_style" : "donkey", "body_rgb" : (128, 128, 128), "car_name" : "car", "font_size" : 100} # body style(donkey|bare|car01) body rgb 0-255
# GYM_CONF["racer_name"] = "Your Name"
# GYM_CONF["country"] = "Place"
# GYM_CONF["bio"] = "I race robots."
# 
# SIM_HOST = "127.0.0.1"              # when racing on virtual-race-league use host "trainmydonkey.com"
# SIM_ARTIFICIAL_LATENCY = 0          # this is the millisecond latency in controls. Can use useful in emulating the delay when useing a remote server. values of 100 to 400 probably reasonable.
# 
# #publish camera over network
# #This is used to create a tcp service to pushlish the camera feed
# PUB_CAMERA_IMAGES = False
# 
# #When racing, to give the ai a boost, configure these values.
# AI_LAUNCH_DURATION = 0.0            # the ai will output throttle for this many seconds
# AI_LAUNCH_THROTTLE = 0.0            # the ai will output this throttle value
# AI_LAUNCH_ENABLE_BUTTON = 'R2'      # this keypress will enable this boost. It must be enabled before each use to prevent accidental trigger.
# AI_LAUNCH_KEEP_ENABLED = False      # when False ( default) you will need to hit the AI_LAUNCH_ENABLE_BUTTON for each use. This is safest. When this True, is active on each trip into "local" ai mode.
# 
# #Scale the output of the throttle of the ai pilot for all model types.
# AI_THROTTLE_MULT = 1.0              # this multiplier will scale every throttle value for all output from NN models
# 
# #Path following
# PATH_FILENAME = "donkey_path.pkl"   # the path will be saved to this filename
# PATH_SCALE = 5.0                    # the path display will be scaled by this factor in the web page
# PATH_OFFSET = (0, 0)                # 255, 255 is the center of the map. This offset controls where the origin is displayed.
# PATH_MIN_DIST = 0.3                 # after travelling this distance (m), save a path point
# PID_P = -10.0                       # proportional mult for PID path follower
# PID_I = 0.000                       # integral mult for PID path follower
# PID_D = -0.2                        # differential mult for PID path follower
# PID_THROTTLE = 0.2                  # constant throttle value during path following
# SAVE_PATH_BTN = "cross"             # joystick button to save path
# RESET_ORIGIN_BTN = "triangle"       # joystick button to press to move car back to origin
# 
# # Intel Realsense D435 and D435i depth sensing camera
# REALSENSE_D435_RGB = True       # True to capture RGB image
# REALSENSE_D435_DEPTH = True     # True to capture depth as image array
# REALSENSE_D435_IMU = False      # True to capture IMU data (D435i only)
# REALSENSE_D435_ID = None        # serial number of camera or None if you only have one camera (it will autodetect)
# 
# # Stop Sign Detector
# STOP_SIGN_DETECTOR = False
# STOP_SIGN_MIN_SCORE = 0.2
# STOP_SIGN_SHOW_BOUNDING_BOX = True