def table_pos(self, corners):
if self.state == 'searching':
self.state = 'fast'
is_blocked = self.checkObstacle()
if is_blocked:
return
if self.state == 'fast':
self.speed = min((self.speed + 50 ), 300)
length_left, length_right, middle_x = self.logo_properties(corners)
angle = get_angle_from_pixels(middle_x, axis_size=4*1280/5)
if angle > 0:
angle = min(angle, 40)
else:
angle = max(angle, -40)
if abs(angle) < 5:
self.irobot.DriveStraight(self.speed)
else:
self.irobot.TurnInPlace(2.5 * angle, 'cw')
self.sleep(1)
self.irobot.Stop()
print("angle")
print(middle_x)
print angle
def face_pos(self, value):
if self.status in ["finding", "tracking"]:
self.status = "tracking"
print ("tracking face")
angle = -get_angle_from_pixels(value[0] + value[2] / 2.0)
print (angle)
if self.speed == 0:
self.speed = 40
self.speed = min(self.speed + 20, 150)
print (self.speed)
if abs(angle) < 5:
self.irobot.DriveStraight(self.speed)
elif angle > 5: # I have no ideea what I'm doing
self.irobot.Drive(self.speed, 25 - angle)
else:
self.irobot.Drive(self.speed, -25 - angle)
self.rotated = False
else:
print "we're done, somebody forgot to unregister fd"
