def main():
print('Initializing NetworkTables for peg')
NetworkTables.setClientMode( )
NetworkTables.setIPAddress( '10.40.96.2' )
NetworkTables.initialize( )
print('Creating peg video capture ')
global pegCapture
pegCapture = cv2.VideoCapture("/dev/gear_camera")
pegCapture.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
pegCapture.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
capture.set(cv2.CAP_PROP_FPS, 15)
print('Creating peg pipeline')
pegPipeline = PegPipeline()
try:
print("Starting peg server")
server = ThreadedHTTPServer(('0.0.0.0', 5800), CamHandler)
print('Running peg pipeline')
table = NetworkTables.getTable('/vision/')
while True:
pegOk, pegFrame = pegCapture.read()
if pegOk:
print("ok")
if table.getNumber('gear_camera_mode') == 0:
print('Switching peg to GRIP mode')
if Exposure.getExposure("/dev/gear_camera") != 10:
Exposure.setExposure(10, "/dev/gear_camera")
while table.getNumber('gear_camera_mode') == 0:
pegPipeline.process(pegFrame)
extra_processing(pegPipeline)
else:
print('Switching peg to stream mode')
if Exposure.getExposure("/dev/gear_camera") != 100:
Exposure.setExposure(100, "/dev/gear_camera")
while table.getNumber('gear_camera_mode') == 1:
server.handle_request()
except KeyboardInterrupt:
pegCapture.release()
server.socket.close()
""" Ctrl-Z FRC Team 4096 FIRST Robotics Competition Code for use on Raspberry Pi coprocessor [email protected] """ import sys from exposure import Exposure """ Sets the exposure of /dev/video0 to the first arg passed or 10 if no args are passed If 2 args are passed it sets the exposure of arg 2 to arg 1 """ if len(sys.argv) < 3: print("Exposure is {0}".format(Exposure.getExposure())) Exposure.setExposure(10 if len(sys.argv) < 2 else sys.argv[1]) print("Exposure is now {0}".format(Exposure.getExposure())) else: print("Exposure is {0}".format(Exposure.getExposure())) Exposure.setExposure(10 if len(sys.argv) < 2 else sys.argv[1]) print("Exposure is now {0}".format(Exposure.getExposure()))
