def main():
encoder.RF_flag = 0
#encoder.encoder_print_flag = 0
encoder.start_encoder()
#motor.test_motor()
#speed_con()
speedcontrol_test()
def speed_con():
try:
encoder.start_encoder()
##使用线程
thread_test_motor = threading.Thread(target=motor.test_motor, args=())
thread_keep_speed = threading.Thread(target=keep_speed, args=())
thread_standstill = threading.Thread(target=standstill, args=())
#启动进程
encoder.process_cout_thread.start()
#启动线程
#encoder.thread_cout_thread.start()
thread_test_motor.start()
motor.MODE = 4
#thread_keep_speed.start()
thread_standstill.start()
encoder.timer.start()
except KeyboardInterrupt:
motor.PWM = 0
motor.DIR = 0
camera.framerate = FPS
camera.brightness = BRIGHTNESS
camera.shutter_speed = 800
camera.exposure_compensation = 25
camera.ISO = 1300
camera.exposure_mode = 'sports'
##camera.awb_mode = 'fluorescent'
stream = io.BytesIO()
##camera.close()
#*********initial motor and encoder*************
motor.init_motor(500)
motor.stop()
encoder.start_encoder()
motor.car_run_flag = 1
try:
fp = 0
#motor.set_car_run(1,0,150)
#time.sleep(5)
s = time.time()
for foo in camera.capture_continuous(stream, 'jpeg', use_video_port=True):
## s = time.time()
data = np.fromstring(stream.getvalue(), dtype=np.uint8)
c_img = cv2.imdecode(data, cv2.CV_LOAD_IMAGE_UNCHANGED)
## cv2.imwrite('/home/pi/final/final_test/capture'+str(fp)+'.jpg',c_img)
fp += 1
## cv2.imshow('c_img',c_img)