def change(changePin):
changePin = int(changePin)
if changePin == 1:
motor.turnLeft()
elif changePin == 2:
motor.forward()
elif changePin == 3:
motor.turnRight()
elif changePin == 4:
motor.backward()
elif changePin == 5:
motor.stop()
else:
print("Wrong command")
return render_template("index.html")
def choice(input,conn):
t=5
start = t
inc = 0.5
try:
if input == 'f':
while t>0:
if(sensor.willFrontCrash()):
print('stopped after ' + str(start-t))
break
motor.forward(inc)
t = t-inc
print('Move forward')
elif input == 'b':
while t>0:
if(sensor.willBackCrash()):
print('stopped after ' + str(start-t))
break
motor.backward(inc)
t = t-inc
print('Move backward')
elif input == 'r':
motor.turnRight(t)
print('turn right')
elif input == 'l':
motor.turnLeft(t)
print('turn left')
elif input == 's':
reading = sensor.getAllSensor()
print('Read all sensors')
print(reading)
result = " ".join(reading)
conn.send(result)
except KeyboardInterrupt:
print('key board interrupted!')
finally:
print('done')
conn.send("\n")
ball_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
b = 0
while True:
Cball = 0
ret, img = cam.read()
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ball = ball_cascade.detectMultiScale(gray, 1.3, 5)
for (x, y, w, h) in ball:
cv2.rectangle(img, (x, y), (x + w, y + h), (255, 0, 0), 2)
full = w + h
tengah = x + (w / 2)
print("posisi x :", str(tengah))
print("full" + str(full))
if tengah < 270:
motor.turnLeft()
time.sleep(1.0)
b += 1
elif tengah > 370:
motor.turnRight()
else:
motor.stop()
if full > 470:
motor.backward()
elif full < 430:
motor.forward()
else:
motor.stop()
for i in xrange(6):
if distance[i] is None:
distance[i] = 300
if distance[front] > clearance and distance[
frontLeft] > clearance and distance[frontRight] > clearance:
motor.front(m1, m2)
elif distance[frontRight] > distance[frontLeft]:
if distance[frontRight] > clearance:
motor.turnRight(m1, m2)
sleep(2.5)
motor.front(m1, m2)
elif distance[frontLeft] > clearance:
motor.turnLeft(m1, m2)
sleep(2.5)
motor.front(m1, m2)
else:
motor.back(m1, m2)
sleep(5)
if (distance[backRight] >
distance[backLeft]) and distance[backRight] > clearance:
motor.turnLeft(m1, m2)
sleep(2.5)
motor.front(m1, m2)
elif distance[backLeft] > clearance:
motor.turnRight(m1, m2)
sleep(2.5)
motor.front(m1, m2)
def Act(self):
MotorControl.turnLeft(0.25)
MotorControl.turnRight(0.5)
MotorControl.turnLeft(0.25)
exit()
def gen():
"""Video streaming generator function."""
cap = cv2.VideoCapture(0)
faceDetect = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
rec = cv2.face.LBPHFaceRecognizer_create()
rec.read("recognizer/training_data.yml")
i = 0
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output' + str(i) + '.avi', fourcc, 10.0, (640, 480))
engine = pyttsx3.init()
engine.setProperty(
'voice',
"HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\Speech\Voices\Tokens\TTS_MS_EN-US_ZIRA_11.0"
) #set voice type
engine.setProperty('rate', 100) ### 10 adalah kecepatan baca
#cap.set(cv2.CAP_PROP_FRAME_WIDTH, 160)
#cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 120)
# Read until video is completed
while (cap.isOpened()):
ret, frame = cap.read() # import image
if not ret: #if vid finish repeat
cap = cv2.VideoCapture(0)
continue
if ret: # if there is a frame continue with code
faceDetect = cv2.CascadeClassifier(
'haarcascade_frontalface_default.xml')
gray = cv2.cvtColor(frame,
cv2.COLOR_BGR2GRAY) # converts image to gray
faces = faceDetect.detectMultiScale(gray, 1.3, 5)
cv2.putText(frame, str(datetime.now()), (10, 50),
cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 0, 255), 2,
cv2.LINE_AA)
for (x, y, w, h) in faces:
cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 0, 255),
4) #cv2.imshow("countours", image)
id, conf = rec.predict(gray[y:y + h, x:x + w])
if (id == 1):
text = "ILHAM"
engine.say(text)
engine.runAndWait()
else:
text = "UNKNOWN"
engine.say(text)
engine.runAndWait()
cv2.putText(frame, text, (10, 80), cv2.FONT_HERSHEY_SIMPLEX,
1.0, (0, 0, 255), 2, cv2.LINE_AA)
if os.path.exists("output" + str(i) + ".avi"):
i += 1
out.write(frame)
full = w + h
tengah = x + (w / 2)
print("posisi x :", str(tengah))
print("full" + str(full))
if tengah < 270:
motor.turnLeft()
elif tengah > 370:
motor.turnRight()
else:
motor.stop()
if full > 470:
motor.backward()
elif full < 430:
motor.forward()
else:
motor.stop()
frame = cv2.imencode('.jpg', frame)[1].tobytes()
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
#time.sleep(0.1)
key = cv2.waitKey(20)
if key == 27:
break
motor.cleanup()
def Act(self):
MotorControl.turnLeft(.1)
if sensordetect() > 30:
self.isDone = True
