def main():
print('Initializing HAT')
hat.servo_enable(1, False)
hat.servo_enable(2, False)
hat.light_mode(hat.WS2812)
hat.light_type(hat.GRBW)
print('Initializing camera')
with picamera.PiCamera() as camera:
camera.resolution = (WIDTH, HEIGHT)
camera.framerate = FRAMERATE
camera.vflip = VFLIP # flips image rightside up, as needed
camera.hflip = HFLIP # flips image left-right, as needed
sleep(1) # camera warm-up time
print('Initializing websockets server on port %d' % WS_PORT)
WebSocketWSGIHandler.http_version = '1.1'
websocket_server = make_server(
'',
WS_PORT,
server_class=WSGIServer,
handler_class=WebSocketWSGIRequestHandler,
app=WebSocketWSGIApplication(handler_cls=StreamingWebSocket))
websocket_server.initialize_websockets_manager()
websocket_thread = Thread(target=websocket_server.serve_forever)
print('Initializing HTTP server on port %d' % HTTP_PORT)
http_server = StreamingHttpServer()
http_thread = Thread(target=http_server.serve_forever)
print('Initializing broadcast thread')
output = BroadcastOutput(camera)
broadcast_thread = BroadcastThread(output.converter, websocket_server)
print('Starting recording')
camera.start_recording(output, 'yuv')
try:
print('Starting websockets thread')
websocket_thread.start()
print('Starting HTTP server thread')
http_thread.start()
print('Starting broadcast thread')
broadcast_thread.start()
while True:
camera.wait_recording(1)
except KeyboardInterrupt:
pass
finally:
print('Stopping recording')
camera.stop_recording()
print('Waiting for broadcast thread to finish')
broadcast_thread.join()
print('Shutting down HTTP server')
http_server.shutdown()
print('Shutting down websockets server')
websocket_server.shutdown()
print('Waiting for HTTP server thread to finish')
http_thread.join()
print('Disabling servos')
hat.servo_enable(1, False)
hat.servo_enable(2, False)
hat.clear()
hat.show()
print('Waiting for websockets thread to finish')
websocket_thread.join()
def test_lights():
pantilthat.light_mode(pantilthat.WS2812)
pantilthat.light_type(pantilthat.GRBW)
r, g, b, w = 0, 0, 0, 0
try:
while True:
pantilthat.set_all(0, 0, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 0, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(0, 100, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(0, 0, 100, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 100, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(0, 100, 100, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 0, 100, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 100, 100, 0)
time.sleep(0.5)
pantilthat.show()
except KeyboardInterrupt:
pantilthat.clear()
pantilthat.show()
pth.pan(panAngle)
# if the tilt angle is within the range, tilt
if in_range(tiltAngle, servoRange[0]+20, servoRange[1] ):
pth.tilt(tiltAngle-20)
time.sleep(0.1)
# check to see if this is the main body of execution
if __name__ == "__main__":
# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-m", "--model", type=str, required=True,
help="path to openvino model for face detection")
args = vars(ap.parse_args())
#set up lights:
pth.light_mode(pth.WS2812)
pth.light_type(pth.RGB)
pth.set_all(0,0,255)
pth.show()
# start a manager for managing process-safe variables
with Manager() as manager:
# enable the servos
pth.servo_enable(1, True)
pth.servo_enable(2, True)
# set integer values for the object center (x, y)-coordinates
centerX = manager.Value("i", 0)
centerY = manager.Value("i", 0)
# set integer values for the object's (x, y)-coordinates
objX = manager.Value("i", 0)
import colorsys import picamera import time import pantilthat import datetime from time import sleep # Initialise PanTilt Hat a = 0 # intitial pan position (center) b = -20 # intitial tilt position (center) r = 0 # neopixel red off g = 0 # neopixel green off b = 0 # neopixel blue off w = 0 # neopixel white off pantilthat.light_mode(pantilthat.WS2812) pantilthat.light_type(pantilthat.GRBW) pantilthat.pan(a) pantilthat.tilt(b) pantilthat.set_all(r, g, b, w) pantilthat.show() # Initialise Camera camera = picamera.PiCamera() win_size = (500, 40, 640, 480) x = 0 # set zoom to zero y = 0 # set zoom to zero video = (1920, 1088) photo = (2592, 1944) framerate = 30 rotate = 180
#!/usr/bin/env python
import math
import time
import pantilthat
pantilthat.light_mode(pantilthat.PWM)
while True:
b = (math.sin(time.time() * 2) + 1) / 2
b = int(b * 255.0)
t = round(time.time() * 1000) / 1000
a = round(math.sin(t) * 90)
pantilthat.pan(int(a))
pantilthat.tilt(int(a))
pantilthat.brightness(b)
print(a)
time.sleep(0.04)
elif (command == 'get_tilt'):
print(pantilthat.get_tilt());
elif( command == 'light_type' and len(list)>=2):
if( list[1] == 'RGB' ):
pantilthat.light_type(pantilthat.RGB);
elif( list[1] == 'GRB' ):
pantilthat.light_type(pantilthat.GRB);
elif( list[1] == 'RGBW' ):
pantilthat.light_type(pantilthat.RGBW);
elif( list[1] == 'GRBW' ):
pantilthat.light_type(pantilthat.GRBW);
else:
print('error: light_type requires parameter RBB, GRB, RGBW or GRBW');
elif( command == 'light_mode' and len(list)>=2):
if( list[1] == 'PWM' ):
pantilthat.light_mode(pantilthat.PWM);
elif( list[1] == 'WS2812' ):
pantilthat.light_mode(pantilthat.WS2812);
else:
print('error: light_mode requires parameter PWM or WS2812');
elif (command == 'brightness' and len(list)>=2):
pantilthat.brightness(float(list[1]));
elif( command == 'set_all' and len(list)==4):
pantilthat.set_all(int(list[1]), int(list[2]), int(list[3]));
elif( command == 'set_all' and len(list)==5):
print("setting three colours and white");
pantilthat.set_all(int(list[1]), int(list[2]), int(list[3]), int(list[4]));
elif( command == 'set_pixel' and len(list)==5):
pantilthat.set_pixel(int(list[1]), int(list[2]), int(list[3]), int(list[4]));
elif( command == 'set_pixel' and len(list)==6):
pantilthat.set_pixel(int(list[1]), int(list[2]), int(list[3]), int(list[4]), int(list[5]));
