def __init__(self, pitch, color, our_side, video_port=0, comm_port='/dev/ttyUSB0', comms=1):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
*[int] port The camera port to take the feed from
*[Robot_Controller] attacker Robot controller object - Attacker Robot has a RED
power wire
*[Robot_Controller] defender Robot controller object - Defender Robot has a YELLOW
power wire
"""
assert pitch in [0, 1]
assert color in ['yellow', 'blue']
assert our_side in ['left', 'right']
self.pitch = pitch
# Set up the Arduino communications
self.arduino = Arduino(comm_port, 115200, 1, comms)
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=self.pitch)
frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
self.vision = Vision(
pitch=pitch, color=color, our_side=our_side,
frame_shape=frame.shape, frame_center=center_point,
calibration=self.calibration)
# Set up postprocessing for vision
self.postprocessing = Postprocessing()
# Set up main planner
self.planner = Planner(our_side=our_side, pitch_num=self.pitch)
# Set up GUI
self.GUI = GUI(calibration=self.calibration, arduino=self.arduino, pitch=self.pitch)
self.color = color
self.side = our_side
self.preprocessing = Preprocessing()
self.attacker = Attacker_Controller()
self.defender = Defender_Controller()
