araffin

from __future__ import division

import cv2
import numpy as np
# Input Image
image = cv2.imread("my_image.jpg")
# Convert to HSV color space
hsv = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
# Define range of white color in HSV
lower_white = np.array([0, 0, 212])

araffin

def preprocessImage(image, width, height):
    """
    Preprocessing script to convert image into neural net input array
    :param image: (cv2 RBG image)
    :param width: (int)
    :param height: (int)
    :return: (numpy array)
    """
    image = cv2.resize(image, (width, height), interpolation=cv2.INTER_LINEAR)
    x = image.flatten()  # create a big 1D-array

araffin

// From https://github.com/sergionr2/RacingRobot
// replicated in https://github.com/araffin/cpp-arduino-serial
#ifndef ORDER_H
#define ORDER_H

// Define the orders that can be sent and received
enum Order {
  HELLO = 0, // Hello order to initiate communication with the Arduino
  SERVO = 1, // Command the Servomotor (control the direction of the car)
  MOTOR = 2, // Command the Motor (control the speed of the car)

araffin

// Extracted from https://github.com/araffin/cpp-arduino-serial/
#include <robust_serial.hpp>

// Open Serial Port
serial_file.open(serial_filename);

// Send the order "MOTOR", i.e. to change the speed of the car
write_order(serial_file, MOTOR);
// with parameter speed=56 (going forward at 56% of the maximum speed)
// The parameter "speed" is encoded as a 8 bits (1 bytes) signed int

araffin

# From https://github.com/araffin/python-arduino-serial
from robust_serial import Order, write_order, write_i8, write_i16
from robust_serial.utils import open_serial_port

# Open serial port with a baudrate of 9600 (bits/s)
serial_file = open_serial_port(baudrate=9600)

# Send the order "MOTOR", i.e. to change the speed of the car
# equivalent to write_i8(serial_file, Order.MOTOR.value)
write_order(serial_file, Order.MOTOR)

araffin

// Extracted from https://github.com/araffin/rust-arduino-serial
extern crate robust_arduino_serial;
use robust_arduino_serial::*;

// Open Serial Port
let mut port = serial::open(&serial_port).unwrap();
// Please see the original file to have a complete example
...
// Send the order "MOTOR", i.e. to change the speed of the car
// equivalent to write_i8(&mut port, Order::MOTOR as i8)

araffin

// If we have received data
if (Serial.available() > 0)
{
    // Read the order sent by the computer
    order_received = Serial.read();
    // If the received byte is the character 'a'
    if (order_received == 'a')
        // This correspond to the action GO_FORWARD
        // It will be used later to send speed order to the motor
        action = GO_FORWARD;

araffin

# from https://github.com/hill-a/stable-baselines
import gym

from stable_baselines.common.policies import MlpPolicy
from stable_baselines import PPO2

env = gym.make('CartPole-v1')

model = PPO2(MlpPolicy, env, verbose=1)
# Train the agent

araffin

import gym

from stable_baselines import A2C
from stable_baselines.common.policies import MlpPolicy
from stable_baselines.common.vec_env import DummyVecEnv

# Create and wrap the environment
env = gym.make('LunarLander-v2')
env = DummyVecEnv([lambda: env])

araffin

import gym
import numpy as np

from stable_baselines.common.policies import MlpPolicy
from stable_baselines.common.vec_env import SubprocVecEnv
from stable_baselines.common import set_global_seeds
from stable_baselines import ACKTR

def make_env(env_id, rank, seed=0):
    """