def main():
# Calibrate camera to servo. This is a function
get_angle = MU.calibrate_with_camera(
13, 303, 50, 40) #MU.calibrate_with_camera(13, 303, 50, 34)
# Servo handler
servo = ServoHandler(18, 100, 2.5, 20)
# Pump Handler
pump = PumpHandler(16)
# Camera handler
cam = CameraHandler(0, 8)
# Keep track of the threads
threads.append(cam)
# This goes into a thread
cam.start()
# Create a background frame for comparisson
background_frame = MU.get_background(cam)
while True:
smoothed_frame = cam.get_frame()
component = MU.detect_main_change(background_frame, smoothed_frame)
if len(component) != 0:
component = component[0]
# if the contour is too small, ignore it -> Not significant movement
if MU.detect_contour(component):
# Get the countour as a circle around the main change
(x, y), radius = MU.get_enclosure(component)
angle = int(get_angle(int(x)))
print angle
# Change the position only when it was changed (significantly)
servo.set_angle(angle)
# The pump shoots!!!
pump.shot(1)
# Reduce the speed of the readings
dummy_event = threading.Event()
dummy_event.wait(1)
def main(): # Calibrate camera to servo. This is a function get_angle = MU.calibrate_with_camera(13, 303, 50, 40)#MU.calibrate_with_camera(13, 303, 50, 34) # Servo handler servo = ServoHandler(18, 100, 2.5, 20) # Pump Handler pump = PumpHandler(16) # Camera handler cam = CameraHandler(0, 8) # Keep track of the threads threads.append(cam) # This goes into a thread cam.start() # Create a background frame for comparisson background_frame = MU.get_background(cam) while True: smoothed_frame = cam.get_frame() component = MU.detect_main_change(background_frame, smoothed_frame) if len(component) != 0: component = component[0] # if the contour is too small, ignore it -> Not significant movement if MU.detect_contour(component): # Get the countour as a circle around the main change (x,y), radius = MU.get_enclosure(component) angle = int( get_angle(int(x)) ) print angle # Change the position only when it was changed (significantly) servo.set_angle(angle) # The pump shoots!!! pump.shot(1) # Reduce the speed of the readings dummy_event = threading.Event() dummy_event.wait(1)
def __archive_cameras(self, cams, result_path):
"""
Archives images from array of cameras. Places directory of all results at the given path.
"""
camera_handlers = []
for camera in cams:
# Create a new thread to handle the camera.
camera_handler = CameraHandler(camera, result_path)
# Run the thread.
camera_handler.start()
# Add the thread to the array of threads.
camera_handlers.append(camera_handler)
# Sleep to shift the starting time of all the threads.
# time.sleep(interval / len(cams)) # Old
time.sleep(0.5)
# Wait for all the threads to finish execution.
for camera_handler in camera_handlers:
camera_handler.join()
