def color_follow():
global pan_angle_color, tilt_angle_color
Vilib.color_detect_switch(True)
status = [Vilib.color_detect_object('x'), Vilib.color_detect_object('y')]
size = [
Vilib.color_detect_object('width'),
Vilib.color_detect_object('height')
]
time.sleep(0.005)
#on left -1 on right 1
if status[0] == -1:
pan_angle_color = pan_angle_color + 1
set_camera_servo1_angle(min(90, pan_angle_color))
set_dir_servo_angle(max(-45, -pan_angle_color))
elif status[0] == 1:
pan_angle_color = pan_angle_color - 1
set_camera_servo1_angle(max(-90, pan_angle_color))
set_dir_servo_angle(min(45, -pan_angle_color))
if status[1] == -1:
tilt_angle_color = tilt_angle_color + 1
set_camera_servo2_angle(min(45, tilt_angle_color))
elif status[1] == 1:
tilt_angle_color = tilt_angle_color - 1
set_camera_servo2_angle(max(-45, tilt_angle_color))
elif 0 < size[0] < 100 or 0 < size[1] < 100:
forward(50)
else:
stop()
def color_detect(color):
if color == 'close':
print("Color detect off!")
Vilib.color_detect_switch(False)
else:
print("detecting color :" + color)
Vilib.color_detect(color)
import time
from vilib import Vilib
# from ezblock import Servo,PWM
# from robothat import *
import numpy as np
# from th_test import task_start
Vilib.camera_start(web_func=True)
# Vilib.human_detect_switch(True)
Vilib.color_detect_switch(True)
Vilib.detect_color_name('blue')
while True:
# print(Vilib.human_detect_object('number'))
# print(Vilib.human_detect_object('y'))
start_time = time.time()
time.sleep(10)
Vilib.detect_color_name('blue')
time.sleep(10)
Vilib.detect_color_name('red')
# print(" ")
# count+=1
# for i in range(1000):
# pass
# # print("end")
# # pass
# this_time = time.time() - start_time
# print(round(this_time,3))
# all_time += this_time
# avge_time = round(all_time/float(count),3)
async def main_func(self):
while 1:
self.gs_list = car.get_adc_value()
if self.recv_dict['CD'][0] == 'on':
if self.is_on_edge(int(self.recv_dict['CD'][1]),self.gs_list):
car.backward(50)
time.sleep(0.5)
car.stop()
if self.recv_dict['TL'][0] =='on':
# print("line_follow on")
car.ref = int(self.recv_dict['TL'][1])
car.line_follow()
if self.recv_dict['OA'] == 'on':
# print("ultrasonic on")
distance = self.us.read()
if distance > 40 or distance == -2:
car.set_dir_servo_angle(0)
car.forward(50)
elif distance < 10:
car.set_dir_servo_angle(-40)
car.backward(50)
time.sleep(0.5)
elif distance < 30:
car.set_dir_servo_angle(40)
car.forward(50)
time.sleep(0.5)
if self.recv_dict['HT'] == 'on':
Vilib.human_detect_switch(True)
if self.recv_dict['HT'] == 'off':
Vilib.human_detect_switch(False)
if self.recv_dict['HF'] == 'on':
car.human_follow()
if self.recv_dict['CT'] == 'on':
Vilib.color_detect_switch(True)
if self.recv_dict['CT'] == 'off':
Vilib.color_detect_switch(False)
if self.recv_dict['CF'] == 'on':
car.color_follow()
if self.recv_dict['SS'][0] == 'on':
music.sound_effect_threading(self.sound_name[int(self.recv_dict['SS'][1])], float(self.recv_dict['SS'][2]))
self.recv_dict['SS'][0] = 'off'
if self.recv_dict['SM'][0] == 'on':
temp = int(self.recv_dict['SM'][1])
if self.current_music != temp:
music.music_stop()
self.music_flag = True
self.current_music = temp
if self.music_flag:
try:
music_file = self.music_name[self.current_music]
volume = float(self.recv_dict['SM'][2])
music.background_music(music_file, volume=volume)
except IndexError:
print("no such music file: ", int(self.recv_dict['SM'][1]) + 1)
self.music_flag = False
# self.recv_dict['SM'][0] = 'off'
elif self.recv_dict['SM'][0] == 'off':
if self.music_flag == False:
music.music_stop()
self.music_flag = True
# if self.recv_dict['SL'][0] == 'on':
# if self.found_name(self.record_name[int(self.recv_dict['SL'][1])]):
# self.send_dict['FF'] = 'True'
# print("play")
# music.record_play(self.record_name[int(self.recv_dict['SL'][1])],volume = float(self.recv_dict['SL'][2]))
# self.recv_dict['SL'][0] = 'off'
# else:
# self.send_dict['FF'] = 'False'
if self.recv_dict['TT'][0] == 'on':
self.tts.say(self.recv_dict['TT'][1])
self.recv_dict['TT'][0] = 'off'
await asyncio.sleep(0.01)