مكتبة برنامج التحكم واستيراد المكتبات - كتاب الذكاء الإصطناعي - الصف 12 - الفصل 1 - المملكة العربية السعودية

تحتوي مكتبة برنامج المتحكم على فئة Robot (روبوت) التي ستستخدم طرائقها للتحكم في الطائرة المسيرة.

from controller import Robot import numpy as np # used for mathematic operations import os # used for folder creation import cv2 # used for image manipulation and human detection from PIL import Image # used for image object creation from datetime import datetime # used for date and time

استيراد المكتبات المطلوبة للحسابات والمعالجة.

# auxiliary function used for calculations def clamp(value, value_min, value_max): return min(max(value, value_min), value_max)

class Mavic (Robot): # constants of the drone used for flight # thrust for the drone to lift K_VERTICAL_THRUST = 68.5 # vertical offset the drone uses as targets for stabilization K_VERTICAL_OFFSET = 0.6 K_VERTICAL_P = 3.0 # P constant of the vertical PID K_ROLL_P = 50.0 # P constant of the roll PID K_PITCH_P = 30.0 # P constant of the pitch PID MAX_YAW_DISTURBANCE = 0.4 MAX_PITCH_DISTURBANCE = -1 # precision between the target position and the drone position in meters target_precision = 0.5

تُستخدم الثوابت (Constants) الموجودة بشكل تجريبي لحساب الطيران والاستقرار.

def __init__(self): # initializes the drone and sets the time interval between updates of the simulation Robot.__init__(self) self.time_step = int(self.getBasicTimeStep()) # gets and enables devices self.camera = self.getDevice("camera") self.camera.enable(self.time_step) self.imu = self.getDevice("inertial unit") self.imu.enable(self.time_step) self.gps = self.getDevice("gps") self.gps.enable(self.time_step) self.gyro = self.getDevice("gyro") self.gyro.enable(self.time_step) self.camera_pitch_motor = self.getDevice("camera pitch") self.camera_pitch_motor.setPosition(0.7) self.front_left_motor = self.getDevice("front left propeller") self.front_right_motor = self.getDevice("front right propeller") self.rear_left_motor = self.getDevice("rear left propeller") self.rear_right_motor = self.getDevice("rear right propeller") motors = [self.front_left_motor, self.front_right_motor, self.rear_left_motor, self.rear_right_motor] for motor in motors: # mass initialization of the four motors motor.setPosition(float('inf')) motor.setVelocity(1)

وزارة التعليم 321 Ministry of Education 2023 - 1447

--- SECTION: مكتبة برنامج التحكم --- تحتوي مكتبة برنامج المتحكم على فئة Robot (روبوت) التي ستستخدم طرائقها للتحكم في الطائرة المسيرة.--- SECTION: Import Statements --- from controller import Robot import numpy as np # used for mathematic operations import os # used for folder creation import cv2 # used for image manipulation and human detection from PIL import Image # used for image object creation from datetime import datetime # used for date and time--- SECTION: استيراد المكتبات المطلوبة --- استيراد المكتبات المطلوبة للحسابات والمعالجة.--- SECTION: Auxiliary Function --- # auxiliary function used for calculations def clamp(value, value_min, value_max): return min(max(value, value_min), value_max)--- SECTION: Mavic Class and Constants --- class Mavic (Robot):# constants of the drone used for flight # thrust for the drone to lift K_VERTICAL_THRUST = 68.5 # vertical offset the drone uses as targets for stabilization K_VERTICAL_OFFSET = 0.6 K_VERTICAL_P = 3.0 # P constant of the vertical PID K_ROLL_P = 50.0 # P constant of the roll PID K_PITCH_P = 30.0 # P constant of the pitch PID MAX_YAW_DISTURBANCE = 0.4 MAX_PITCH_DISTURBANCE = -1 # precision between the target position and the drone position in meters target_precision = 0.5--- SECTION: استخدام الثوابت (Constants) --- تُستخدم الثوابت (Constants) الموجودة بشكل تجريبي لحساب الطيران والاستقرار.--- SECTION: Initialization Method --- def __init__(self): # initializes the drone and sets the time interval between updates of the simulation Robot.__init__(self) self.time_step = int(self.getBasicTimeStep())# gets and enables devices self.camera = self.getDevice("camera") self.camera.enable(self.time_step)self.imu = self.getDevice("inertial unit") self.imu.enable(self.time_step)self.gps = self.getDevice("gps") self.gps.enable(self.time_step)self.gyro = self.getDevice("gyro") self.gyro.enable(self.time_step)self.camera_pitch_motor = self.getDevice("camera pitch") self.camera_pitch_motor.setPosition(0.7)self.front_left_motor = self.getDevice("front left propeller") self.front_right_motor = self.getDevice("front right propeller") self.rear_left_motor = self.getDevice("rear left propeller") self.rear_right_motor = self.getDevice("rear right propeller") motors = [self.front_left_motor, self.front_right_motor, self.rear_left_motor, self.rear_right_motor] for motor in motors: # mass initialization of the four motors motor.setPosition(float('inf')) motor.setVelocity(1)--- SECTION: Footer Information --- 2023 - 1447--- VISUAL CONTEXT --- **ANNOTATION**: مكتبة برنامج التحكم Description: An Arabic callout box with an arrow pointing to the Python import statements, explaining that the controller program library contains the Robot class whose methods will be used to control the drone. Context: Explains the purpose of the `from controller import Robot` line in the Python code.**ANNOTATION**: استيراد المكتبات المطلوبة Description: An Arabic callout box with an arrow pointing to the Python import statements (numpy, os, cv2, PIL, datetime), explaining that these are the required libraries for calculations and processing. Context: Explains the general purpose of the import block for various functionalities like mathematics, file operations, image processing, and time handling.**ANNOTATION**: استخدام الثوابت (Constants) Description: An Arabic callout box with an arrow pointing to the constant definitions within the `Mavic` class (e.g., K_VERTICAL_THRUST, K_VERTICAL_P, K_ROLL_P, K_PITCH_P), explaining that these experimentally derived constants are used for flight and stability calculations. Context: Explains the role of defined constants in the drone's control system, specifically for flight and stabilization parameters.