textPrint.print(screen, "Number of hats: {}".format(hats) )
textPrint.indent()
for i in range( hats ):
hat = joystick.get_hat( i )
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
textPrint.unindent()
textPrint.unindent()
new_a = joystick.get_axis(0) + float(1)
new_a = (new_a * float(-1)) + float(2)
new_a = (new_a * float(85)) + float(10)
new_a = int(new_a)
servo.update(new_a)
if joystick.get_button(3) == 1:
done = True
# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(60)
# Close the window and quit.
pygame.quit ()
cleanup.clean()
def deleted(type):
if (type == 'yellow'):
servo.update(80)
else:
servo.update(10)
import Acc
from myclass import Antenna
import servo
import time
#Acc.ImuInit()
while True:
Acc.ReadImu(Antenna,5)
print Antenna.roll, Antenna.pitch, Antenna.yaw
while True :
print "Hold"
servo.update("hold","hold")
time.sleep(1)
print "up"
servo.update("up","up")
time.sleep(2)
print "hold"
servo.update("hold","hold")
time.sleep(1)
print "down"
servo.update("down","down")
time.sleep(2)
print "Je suis rendu"
'''
Also a test file for the servo class, similar to test.py
'''
import RPi.GPIO as GPIO
import servo,time
servo = servo.Servo(12,23,53.5/640, 41.41/480, 640, 480,90,90)
print('sleep ended')
for i in range (0,10):
servo.update(200,300)
#time.sleep(2)
#GPIO.cleanup()
def main(folders):
"""Pretty much self-explanatory thanks to python: sets up servos and then reads images from picamera array and does stuff based on params"""
servo = Servo(12,23,60/320, 45/240,320,240,90,90)
global recognizer
recognizer = cv2.createLBPHFaceRecognizer()
trainAll(folders)
if showImage:
cv2.namedWindow("The Luca Bazooka", cv2.cv.CV_WINDOW_AUTOSIZE)
camera=PiCamera()
camera.resolution=resolution
camera.framerate=framerate
rawCapture=PiRGBArray(camera,size=size)
frameNumber = 0
if outputToFile:
video_writer=imageio.get_writer('~/The-Luca-Bazooka/'+filename,fps=24)
for nonprocessed in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
frameNumber += 1
if debug:
print('VIDEO CAPTURE GOING')
frame=nonprocessed.array
if rotate:
frame=ndimage.rotate(frame,270)
if debug:
#print(frame)
pass
faces = extractFace(frame)
for i in faces:
(x, y, w, h) = i
predicted = predict(
cv2.cvtColor(crop(frame, i), cv2.COLOR_RGB2GRAY))
if showImage:
cv2.imshow(
'Detected Face', cv2.cvtColor(crop(frame, i), cv2.COLOR_RGB2GRAY))
if visualizeLBP:
cv2.imshow('LBP Histogram',lbp(cv2.cvtColor(crop(frame,i),cv2.COLOR_RGB2GRAY)
,1,15))
if debugStuff:
print(predicted)
if predicted[1] <= confidenceLevel and (showImage or outputImage):
print 'FOUND LUCA FACE'
cv2.rectangle(frame, (x, y), (x+w, y+h), (227, 45, 45), 2)
servo.update(x+w/2, y+h/2)
if debug:
print('Updating servo with coords:')
print(x+w/2-160,y+h/2-120)
charactersToCutOff=len('/home/pi')+len("/The-Luca-Bazooka/training/")
cv2.putText(
frame, folders[predicted[0]][charactersToCutOff:-1], (x, y), cv2.FONT_HERSHEY_SIMPLEX, 3, (255, 255, 255))
if predicted[1] <= confidenceLevel and not (showImage or outputImage):
servo.update(x+w/2-160, y+h/2-120)
if debug:
print 'UPDATING SERVO WITH COORDS:'
print (x+w/2,y+h/2)
print 'FOUND LUCA FACE'
print 'CONFIDENCE START'
print (predicted[1])
print 'CONFIDENCE END'
else:
if debug:
print 'FOUND NON-LUCA FACE'
print (x,y,x+w,y+h)
if showImage or outputImage:
cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 191, 255), 2)
if outputImage:
cv2.imwrite(outputImagePath+str(frameNumber)+'.jpg',frame)
if showImage:
cv2.imshow("The Luca Bazooka", frame)
if outputToFile==True:
video_writer.append_data(frame)
rawCapture.truncate(0)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if outputToFile==True:
video_writer.close()
vidcap.release()
cv2.destroyAllWindows()
