timer.start() t = threading.Thread(target = music) t.start() # start the ball detector and roller threads ballDetect.start() _roller.startRoller() hasBalls = False # counter for amount of searching iterations done counter = 0 cam = cv.CaptureFromCAM(1) # Initialize camera ADFJUSDHGIUSODUHBGOSDUIH wall_values = walls.readWallsData() HSV_values = balls.readBallData(isGreen) # Calibration listOfErrors = [0] oldSearch = 0 # Variables to reset listOfErrors newSearch = 1 # when chasing a different ball or chasing a wall # start by moving forward a little motors.forward(-40) dirTurn = 1 #isYellowWall = False # variable saying how many turns ago the yellow wall was seen yellowWallLastSeen = 90 # -1 refers to infinity counterTurn = 0 #getCam = threading.Thread(target = cameraShit, args = [cam]) #getCam.start()
light=light.masterLight(ard) onSwitch = ballDetector.switch(ard, 11) gate = servo.Servo(ard) irSensors = ir.wallDetector(ard) bumper=bumper.Bumper(ard) roller = roller.Roller(ard) ard.run() roller.startRoller() light.powerOn() while onSwitch.getValue() != True: time.sleep(0.1) hasBalls = False counter = 0 cam = cv.CaptureFromCAM(1) # Initialize camera wall_values = walls.readWallsData() HSV_values = balls.readBallData() # Calibration listOfErrors = [0] oldSearch = 0 # Variables to reset listOfErrors newSearch = 1 # when chasing a different ball or chasing a wall motors.forward(-40) dirTurn = 1 time.sleep(0.1) isYellowWall = False counterTurn = 0 while not timerOver: img = cv.QueryFrame(cam) wallList = findWall(img, wall_values) print list(wallList), "--> walls" ballList = findBall(img, HSV_values) if irSensors.detectWall(): print "THERE IS A WALL LOL"
