value = 0
target = None
if robot.searching:
for area in areas:
if area["area"] > value:
value = area["area"]
target = area
if target:
robot.tork_rotation = TORK_ROTATE_SLOW
robot.interpolation(hsv, target["area"], target["center"]["x"],
target["center"]["y"], (var == 'circ'))
else:
robot.tork_rotation = TORK_ROTATE_FAST
robot.move_right()
else:
if robot.go_to_endpoint(endpoints):
try:
response = chat.send_message("#" + id_roboto + " listo")
except:
pass
areas = []
cv2.imshow(win_name, img)
key = cv2.waitKey(1)
robot.move_stop()
if key == 27:
cv2.destroyAllWindows()
exit()
