# *******************************************************
# ******************** LOCAL FUNCTIONS ******************
def wait():
time.sleep(WAIT_INTERVALS)
# *****************************************************
# ******************* PROGRAM *************************
# Instantiate Buggy
buggy = Buggy()
# If connected
if buggy.isConnected:
# Stream the feed
buggy.streamFeed()
# Wait for feed to start...
wait()
# Loop
try:
if DISPLAY:
cv2.namedWindow('normal', cv2.WINDOW_NORMAL)
# *******************************************************
# ******************** LOCAL FUNCTIONS ******************
def wait():
time.sleep(0.01)
# *****************************************************
# ******************* PROGRAM *************************
# Instantiate Buggy
buggy = Buggy()
# If connected
if buggy.isConnected:
# Stream the feed
buggy.streamFeed()
# Wait for feed to start...
wait()
# Loop
try:
if DISPLAY:
cv2.namedWindow('display_image', cv2.WINDOW_NORMAL)
WAIT_INTERVALS = 0.5 # Interval to wait (in seconds) between each picture taken
# *******************************************************
# ******************** LOCAL FUNCTIONS ******************
def wait():
time.sleep(WAIT_INTERVALS)
# *****************************************************
# ******************* PROGRAM *************************
# Instantiate Buggy
buggy = Buggy()
# If connected
if buggy.isConnected:
# Stream the feed
buggy.streamFeed()
# Wait for feed to start...
wait()
# Loop
try:
if DISPLAY:
cv2.namedWindow('normal',cv2.WINDOW_NORMAL)
DISPLAY = True # Whether you want to display what the Buggy sees
# *******************************************************
# ******************** LOCAL FUNCTIONS ******************
def wait():
time.sleep(0.01)
# *****************************************************
# ******************* PROGRAM *************************
# Instantiate Buggy
buggy = Buggy()
# If connected
if buggy.isConnected:
# Stream the feed
buggy.streamFeed()
# Wait for feed to start...
wait()
# Loop
try:
if DISPLAY:
cv2.namedWindow('display_image',cv2.WINDOW_NORMAL)
if wheel_direction is not "neutral":
wheel_direction = "neutral"
buggy.straightenWheels()
confident_match = True if best_result > 0.2 else False # Will only move forward fast if confident
moving_forward = True
del arrow_buffer[:]
return moving_forward, wheel_direction, confident_match, arrow_buffer
# *****************************************************
# ******************* PROGRAM *************************
# Instantiate Buggy
buggy = Buggy()
# If connected
if buggy.isConnected:
# Set up signs for template matching
sign_cross = cv2.imread(PATH_CROSS, 0)
# Get image resolution from this
IMAGE_RESOLUTION_w, IMAGE_RESOLUTION_h = sign_cross.shape[::-1]
# Arrows
arrow_list = list()
ARROW_DEGREE_DIFF = 180//(NUMBER_OF_ARROWS-1)
for i in range(NUMBER_OF_ARROWS):
index_string = str(i)
if len(index_string) == 1:
index_string = '0' + index_string
GOAL_THRESHOLD = 0.7 # The threshold to use when matching the goal image - lower it is, the easier to find, but easier to make mistakes
# *******************************************************
# ******************** LOCAL FUNCTIONS ******************
def wait():
time.sleep(0.01)
# *****************************************************
# ******************* PROGRAM *************************
# Instantiate Buggy
buggy = Buggy()
# If connected
if buggy.isConnected:
# Stream the feed
buggy.streamFeed()
# Wait for feed to start...
wait()
# Loop
try:
if DISPLAY:
cv2.namedWindow('normal',cv2.WINDOW_NORMAL)