else:
floor = floor_finder(code)
print(floor)
start = floor[1]
print(i)
path = path_to_take[i]
if floor[0] in path_to_take:
if floor[0] in inter:
# print(path)
for inte in inter:
if inte == floor[0]:
turn = turn_finder(path_to_take, inte)
# print("turn is {}".format(turn))
if turn is not None or turn != 'None':
print("turn is{}".format(turn))
arduino.flush_input()
arduino.write('stop')
sleep(6)
arduino.flush_input()
arduino.write(str(turn))
sleep(3)
arduino.write('line')
# message = arduino.readline()
# print(message)
break
else:
path_to_take, inter = path_finder(start, end)
i = 0
arduino.write('line')
sleep(2)
arduino.write('stop')
# Look for faces in the image
faces = face_cascade.detectMultiScale(gray, 1.5, 2)
if faces is not ():
# Display face detection on a led
GPIO.output(FACE_DETECTION_STATUS_PIN, True)
# Look for the biggest face
biggest_face = get_biggest_face(faces)
# Compute pan-tilt angle to adjust centring
ax, ay = get_compensation_angle(biggest_face)
# Update angles values
angle_x = angle_x + ax
angle_y = angle_y + ay
servo_x.write(angle_x)
servo_y.write(angle_y)
else:
GPIO.output(FACE_DETECTION_STATUS_PIN, False)
except Exception as e:
print e
camera.stop_recording()
GPIO.output(FACE_DETECTION_STATUS_PIN, False)
GPIO.cleanup()
connection.flush_input()
connection.close()
sys.exit(0)
