def findTape():
link.camera_update()
if link.get_object_area(c.chanPink, 0) >= c.blobSize:
tape = 1
else:
tape = 0
return tape
def lookForGreen() :
print "cameraTrack"
link.camera_update()
time.sleep (0.5)
#$####################
print "waiting until we see something"
for i in range(15):
print "i: ", i
greenArea = link.get_object_area( c.chanGreen, 0 )
redArea = link.get_object_area( c.chanRed, 0 )
print "green: ", greenArea
print "red: ", redArea
if greenArea > c.blobSize:
break
elif redArea > c.blobSize:
break
link.camera_update()
time.sleep( 0.02 )
######################
if link.get_object_area( c.chanGreen, 0 ) >= c.blobSize:
print "green"
print link.get_object_area( c.chanGreen, 0 )
return True
print "green not seen"
return False
def findTape():
link.camera_update()
if link.get_object_area( c.chanPink, 0 ) >= c.blobSize:
tape = 1
else:
tape = 0
return tape
def getCoordinateOfFoamBall(pingPongBallNumber):
"""Returns the coordinate of the biggest red ball the camera sees"""
camera_update()
sleep(.1)
x = get_object_center_x(CHANNEL_GREEN,pingPongBallNumber)
y = get_object_center_y(CHANNEL_GREEN,pingPongBallNumber)
cood = Coordinate(x,y)
return cood
def sortTribble() :
print "sortTribble"
link.camera_update()
time.sleep(.15)
link.camera_update()
print "camera updated"
found = 1
if link.get_object_area( c.chanGreen, 0 ) >= c.blobSize:
print "green, y=", link.get_object_center_y(c.chanGreen, 0)
if link.get_object_center_y(c.chanGreen, 0) >= 90:
drive.withStop(30, 30, .5)
link.camera_update()
print "*******new y=", link.get_object_center_y(c.chanGreen, 0)
#act.DEBUG("bad green alignment")\
print link.get_object_area( c.chanGreen, 0 )
print "moveSorter"
sortAndKick( c.sorterLeft)
elif link.get_object_area(c.chanRed, 0 ) >= c.blobSize or link.get_object_area(c.chanGold, 0 ) >= c.blobSize:
print "red/gold"
print "red, y=", link.get_object_center_y(c.chanRed, 0)
if link.get_object_center_y(c.chanRed, 0) >= 90:
drive.withStop(30, 30, .5)
link.camera_update()
print "*******new y=", link.get_object_center_y(c.chanRed, 0)
print link.get_object_area( c.chanRed, 0 )
print "moveSorter"
sortAndKick( c.sorterRight)
else:
print "nothing found"
found = 0
return found
def sortTribble():
print "sortTribble"
link.camera_update()
time.sleep(.15)
link.camera_update()
print "camera updated"
found = 1
if link.get_object_area(c.chanGreen, 0) >= c.blobSize:
print "green, y=", link.get_object_center_y(c.chanGreen, 0)
if link.get_object_center_y(c.chanGreen, 0) >= 90:
drive.withStop(30, 30, .5)
link.camera_update()
print "*******new y=", link.get_object_center_y(c.chanGreen, 0)
#act.DEBUG("bad green alignment")\
print link.get_object_area(c.chanGreen, 0)
print "moveSorter"
sortAndKick(c.sorterLeft)
elif link.get_object_area(c.chanRed,
0) >= c.blobSize or link.get_object_area(
c.chanGold, 0) >= c.blobSize:
print "red/gold"
print "red, y=", link.get_object_center_y(c.chanRed, 0)
if link.get_object_center_y(c.chanRed, 0) >= 90:
drive.withStop(30, 30, .5)
link.camera_update()
print "*******new y=", link.get_object_center_y(c.chanRed, 0)
print link.get_object_area(c.chanRed, 0)
print "moveSorter"
sortAndKick(c.sorterRight)
else:
print "nothing found"
found = 0
return found
def testCamera():
servo.moveShutter(c.shutterOpen)
for i in range(5):
link.camera_update()
area = link.get_object_area(c.chanRed, 0)
print i, area
def cameraTest():
print "testing camera"
link.camera_update()
time.sleep(.1)
link.camera_update()
def takePicture():
link.camera_update()
def camTakePicture():
link.camera_update()
def cameraTest():
print "testing camera"
link.camera_update()
time.sleep(.1)
link.camera_update()
def getNumVisibleFoamBalls():
"""Returns the number of red balls in the camera's frame"""
camera_update()
count = get_object_count(CHANNEL_RED);
return count
