def main():
capture_layer = CaptureLayer()
input_layer = InputLayer()
control_layer = ControlLayer()
main_loop = True
capture_thread = Process(target=capture_layer.run_capture)
serial_thread = Process(target=serial_control)
capture_thread.start()
serial_thread.start()
last_busy = 1
while main_loop:
shape = capture_layer.marker_shape[:]
input_layer.update(shape, motor_busy.value)
control_layer.update(input_layer)
control_vector[0:3] = control_layer.get_control_vector()
if last_busy != motor_busy.value:
last_busy = motor_busy.value
print("BUSY" if motor_busy.value else "FREE")
if control_vector[1] != 0:
print("%d cm, %.1f deg" % (input_layer.distance_cm, input_layer.angle_deg)," "*8)
print("desired %d cm = %d steps" % (control_layer.desired_cm, control_vector[1]),
"conf: %.2f" % input_layer.distance_filter.confidence())
sleep(0.020)
