def findFace(self, frame):
image = frame.array
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
faces = self.face_cascade.detectMultiScale(gray, 1.3, 5)
ret = True
for face in faces:
ret = self.trackHead(face[0] + face[2] / 2, face[1] + face[3] / 2)
if not ret:
area = face[2] * face[3]
if area < 1000:
driver.goForward(0.5)
driver.stop()
return not ret
def turnBody():
global hasTorqued, state, orient
up, left = driver.getServoValues()
if left > 6500:
driver.goRight(0.5, 1000)
driver.stop()
elif left < 5500:
driver.goLeft(0.5, 1000)
driver.stop()
else:
driver.goLeft(0.01, 0)
print("Made it to here!")
orient = True
return
def scan(frame, *targetColor):
global scanDir
up, left = driver.getServoValues()
targetFound = target.frameContainsTargetColor(frame, *targetColor)
if targetFound:
driver.goLeft(0, 0)
return True
if scanDir == 0:
if left >= 8000:
scanDir = 1
else:
driver.lookLeft(100)
elif scanDir == 1:
driver.lookRight(100)
if left <= 4000:
scanDir = 0
elif left == 6100:
scanDir = 2
elif scanDir == 2: # not in frame, need to turn wheels
driver.goLeft(1, 1200)
driver.stop()
scanDir = 1 # reset scanStat
return False
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
# State Logic
if state == States.startup and not orient:
print("Not Orient")
frameLocated = scan(image, *colors["ice"])
if frameLocated == True:
turnBody()
elif state == States.startup and orient:
print("Orient")
state = States.navigation
client.sendData("I'm coming for you human")
elif state == States.navigation:
driver.goForward(2)
driver.stop()
client.sendData("Who put all these gosh didly darn rocks here")
time.sleep(2)
driver.goForward(3)
driver.stop()
if returnTrip:
state = States.dumping
declare = True
orient = False
else:
state = States.mining
elif state == States.mining:
face = faceFinder.findFace(frame) or face