def hault():
while (cloud.getMutex() == 0):
if (ultra.distance() > 50):
reset()
time.sleep(1)
contours, hierarchy = cv2.findContours(th1, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
c = max(contours, key=cv2.contourArea) #choose the largest contour
M = cv2.moments(c)
cx = int(M["m10"] / M["m00"])
cy = int(M["m01"] / M["m00"])
#perform correction
#can add more elifs to turn right/left slowly,fast
centerx = 160
#print('Area=',area)
#print('Perimeter=',perim)
xdiff = centerx - cx
dist = ultra.distance()
#if(cx<)
while (dist < 7):
print('Obstruction detected,stop')
pwm1.ChangeDutyCycle(0)
pwm2.ChangeDutyCycle(0)
time.sleep(0.5)
dist = ultra.distance()
if (abs(xdiff) < 40):
turn = True
if (not turn):
print('Center x - centroid x', xdiff)