cv2.waitKey(3000)
cv2.destroyAllWindows()
else:
print(f"The current red detected objects are at : {red_coors}")
cv2.namedWindow("red img", cv2.WINDOW_AUTOSIZE)
# cv2.namedWindow("red mask", cv2.WINDOW_AUTOSIZE)
# cv2.moveWindow("red mask", int(pic.shape[1]), 0)
cv2.moveWindow("red img", 0, 0)
# cv2.imshow("red mask", red_mask)
cv2.imshow("red img", red_img)
cv2.waitKey(2000)
cv2.destroyAllWindows()
number += 1 # to rename the next captured image
modified_joints.move(
get_angles(red_coors[0][0], red_coors[0][1], red_coors[0][2]))
sleep(2)
# joints.pump() # turn on the pump
modified_joints.red_drop_pos()
sleep(2)
# joints.pump() # turn of the pump
modified_joints.parking_pos()
while green_check:
camera.start_preview()
sleep(2)
camera.capture(f'/home/pi/Desktop/images/img{number}.jpg')
camera.stop_preview()
pic = cv2.imread(f'/home/pi/Desktop/images/img{number}.jpg')
green_coors, green_mask, green_img = green_color.color(pic)
if len(green_coors) == 0:
def circle_drop_pos():
pos = get_angles(10, 0, 5)
move(pos)
def triangle_drop_pos():
pos = get_angles(-6, 0, 5)
move(pos)
def square_drop_pos():
pos = get_angles(6, 0, 5)
move(pos)
def red_drop_pos():
pos = get_angles(-6, 0, 5)
move(pos)
def green_drop_pos():
pos = get_angles(10, 0, 5)
move(pos)
def blue_drop_pos():
pos = get_angles(6, 0, 5)
move(pos)
def red_drop_pos():
move(get_angles(-19, 0, 5))