def angleAdjust(dist_target):
QR_FOUND = True
image_data = IT.takeImage()
if image_data == []:
QR_FOUND = False
final_dist = dist_target
elif QR_FOUND:
dist_target = IT.getQRdist(image_data) #cm
theta = IT.getAngle(image_data)
print("theta1 = ", theta)
Motors.turnDegrees(theta)
time.sleep(1)
time.sleep(2)
print("QR FOUND from angle = ", QR_FOUND)
return (QR_FOUND, dist_target)
# def QRdistance(h):
# F = 50*274/7.1
# d = 7.1*F/h -8
# return d
# initialise variables
mtr_speed = 10 #cm/s
turn_inc = 10 #degrees
min_obj_IRdist = 50 #cm
min_obj_Ultradist = 30 #cm
evade_dist = 10 #cm
# Define final goal
final_dist = IT.getQRdist(IT.takeImage()) #cm
print("final_dist = ", final_dist)
dist_target = final_dist # Initialise the distance from the Jankanator to the flagpole
# Initial states
AVOIDING = False # Status of the Jankanator while it is avoiding an object
target_timer = False # Timer used to record time elapsed while moving in the avoiding stage -> Initialise to off
AVOIDING_TIMER = False # Timer used to record time elapsed while moving towards target -> Initialise to off
dist_moved_calc = False # Initialise
INITIAL_EVADE = False # When an object is sensed the first manouever is to move 10cm in the clear direction and then run checks on the left ir
# Initialise orientation, turning increment
orig_orient = 0 # degrees -> Facing the target
orient = orig_orient #initialise
# Start engine
from micromelon import *
from micromelon.comms_constants import MicromelonType as OPTYPE
import math
#from picamera.array import PiRGBArray
#from picamera import PiCamera
from timeit import default_timer as timer
import time
import cv2
import time
import numpy as np
import timeit
from pyzbar import pyzbar
import imageTester as IT
rc = RoverController()
rc.connectIP()
data = IT.takeImage()
dist = IT.getQRdist(data)
print("dist = ", dist)
angle = IT.getAngle(data)
print("theta = ", angle)
# phi = [360/8 for i in range(8)]
# print(phi)
# for i in phi:
# Motors.turnDegrees(i)