def __init__(self, auto_loop=False):
self.configuration = parse_config("post-it")
self.cap = cv2.VideoCapture(-1)
self.cap.set(cv2.cv.CV_CAP_PROP_BRIGHTNESS, self.configuration['brightness'])
self.cap.set(cv2.cv.CV_CAP_PROP_CONTRAST, self.configuration['contrast'])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, self.configuration['width'])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, self.configuration['height'])
if auto_loop:
self.track_show_loop()
def __init__(self, auto_loop=False):
self.configuration = parse_config("post-it")
self.cap = cv2.VideoCapture(-1)
self.cap.set(cv2.cv.CV_CAP_PROP_BRIGHTNESS,
self.configuration['brightness'])
self.cap.set(cv2.cv.CV_CAP_PROP_CONTRAST,
self.configuration['contrast'])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH,
self.configuration['width'])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,
self.configuration['height'])
if auto_loop:
self.track_show_loop()
def main(config):
graph, alpha, beta, rho, num_ants_per_city, num_iterations = \
parse_config(config)
path, pheremones = get_optimal_path(graph, alpha, beta, rho,
num_ants_per_city, num_iterations)
# print final results
print("Results:")
print("--------\n")
print("Best Path:")
print_tour(path)
print("\n", end='')
print("Length:")
print(path.length)
print("\n", end='')
print_pheremone_map(pheremones)
# return path for testing purposes
return path
import vision
import robotusb
from collections import OrderedDict
import cv2
from parseconfig import parse_config
configuration = parse_config("arm")
tracker = vision.TrackSquare(False)
while True:
processed, square = tracker.track_show()
robotusb.StopArm()
if square['w'] is not 0:
if abs(square['x']) > configuration['base_thresh']:
if square['x'] < 0:
robotusb.MoveArm("BASE_CL")
else:
robotusb.MoveArm("BASE_AC")
elif abs(square['y']) > configuration['wrist_thresh']:
up = False
if square['y'] < 0:
up = True
if abs(square['y']) > configuration['shoulder_thresh']:
if up:
robotusb.MoveArm("SLDR_UP")
else:
robotusb.MoveArm("SLDR_DN")
elif abs(square['y']) > configuration['elbow_thresh']:
if up:
robotusb.MoveArm("ELBW_UP")
def __init__(self, colour='blue'):
self.colour = colour
self.configuration = parse_config(colour)
def __init__(self):
self.configuration = parse_config('track-depth')
import vision
import cv2
import gopigo
from parseconfig import parse_config
tracker = vision.TrackSquare(False)
configuration = parse_config('follow')
while True:
processed, square = tracker.track_show()
if square['w'] != 0:
area = square['u_width'] * square['u_height']
if abs(square['x']) > configuration['rotate_tol']:
if square['x'] > configuration['rotate_tol']:
gopigo.right()
print "right"
else:
gopigo.left()
print "left"
elif configuration['target_area']*(1-configuration['area_tol']) > area or configuration['target_area']*(1+configuration['area_tol']) < area:
if configuration['target_area']*(1+configuration['area_tol']) < area:
gopigo.bwd()
print "bwd"
else:
gopigo.fwd()
print "fwd"
else:
gopigo.stop()
print str(square)