Changes between Version 27 and Version 28 of Other/Summer/2025/self-driving
- Timestamp:
- Jun 25, 2025, 4:55:43 PM (9 days ago)
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Other/Summer/2025/self-driving
v27 v28 30 30 [https://docs.google.com/presentation/d/10KDlyMXHnCqYHTe5A6nhevLICf3jup91HIhf3qXCt6U/edit?slide=id.g369586f805a_0_10#slide=id.g369586f805a_0_10 Week 4 slides]// 31 31 32 == Week 5 33 Trained model on making right and left turns in the city environment[[BR]] 34 Started training on turns at the intersection[[BR]] 35 Created a new model called gps which will allow users to give the car commands on the direction to turn at an intersection before running the car[[BR]] 36 \\ 37 [https://docs.google.com/presentation/d/1_Utb2f8qbcjIbTonJ2XXRmijsZU6iXQUkLB3nwDeOGs/edit?slide=id.p#slide=id.p Week 5 slides]// 38 32 39 == Connecting to Rascal 33 40 First connect to Zerotier if you're using a personal computer. (If you are not using a personal computer, then plug the car directly into a monitor to access the car). … … 60 67 7. Go back to **/upcar** and move your data to /rascaltraining/data: **mv dataProcessing/sessions/<your file name here> rascaltraining/data [[BR]] 61 68 8. If you go into **/rascaltraining/data** you should see your file listed [[BR]] 62 9. Go back to **/rascaltraining** and type the command: **python trainModel.py -m fisheye -- center_width 30 --num_bins 3 --use_labels 1.0 -s labels** [[BR]]69 9. Go back to **/rascaltraining** and type the command: **python trainModel.py -m fisheye --use_labels 1.0 -s labels** [[BR]] 63 70 10. Now your model is being trained [[BR]] 64 71 11. To stop training press enter [[BR]] 65 72 12. Remember to stop training when the validation loss doesn't seem to be decreasing by a significant amount anymore to avoid overfitting [[BR]] 66 13. To push your newly made model to gitlab, go to **/rascaltraining/savedModels** and type **git add -f <your model number here>** [[BR]] 67 14. Next type the command **git commit -m "<give it a name>"** [[BR]] 68 15. Next type the command **git push origin main** [[BR]] 69 16. Finally, back in the car's terminal type **git pull origin main** [[BR]] 73 13. To check what number model you just created, go to **/savedModels** and type **ls** (yours will be the most recent number) 74 14. To push your newly made model to gitlab, type **git add -f <your model number here>** [[BR]] 75 15. Next type the command **git commit -m "<give it a name>"** [[BR]] 76 16. Next type the command **git push origin main** [[BR]] 77 17. Finally, back in the car's terminal go to **/savedModels** and type **git pull origin main** [[BR]] 70 78 71 79 You're now ready to start testing! [[BR]] … … 73 81 == Testing Rascal 74 82 To test rascal: [[BR]] 75 1. Enter **./launch_with_model.sh pure_pursuit** in the car's terminal (not the server anymore) [[BR]]76 2. Open up the web display[[BR]]77 3. Run these commands in the web display:[[BR]]78 a. data_loader/load[[BR]]83 1. Go to /upcar in the car's terminal (not the server) [[BR]] 84 2. Enter **./launch_with_model.sh pure_pursuit** [[BR]] 85 3. Open up the web display [[BR]] 86 4. Run these commands in the web display: [[BR]] 79 87 b. sim_camera/set_enable (set to true) [[BR]] 80 88 c. ml/imgDisp (set to true) [[BR]] 81 89 d. ml/0/enable (click enable) [[BR]] 82 e. ml/0/reset [[BR]] 83 Watch the car move on it's own! 90 Watch the car move on it's own! [[BR]] 84 91 Make sure it doesn't crash!
