Exemple #1
0
#from camera import camera
from ultrasonic import ultrasonic
from infrared import infrared
from line_tracker import line_tracker
#import cv2
import time
address='192.168.0.101'
#cam = camera(address)
#cam.start()
inf = infrared(address)
inf.start()
ult = ultrasonic(address)
ult.start()
lt = line_tracker(address)
lt.start()
inf_t = time.time()




while True:
	try:
		t = time.time()
		# if cam.image!=[]:
		# 	cv2.imshow("image",cam.image)
		# 	cv2.waitKey(1)
		if t-inf_t>1:
			print("infrared left,right: ",inf.left,inf.right)
			print("ultrasonic: ",ult.measurement)
			print("line_tracker: ",lt.data)
			inf_t = t
	def __init__(self):
		self.sonic = ultrasonic()
		print("Hello~Are you OK????")
GPIO.setwarnings(False)
GPIO.setmode(
    GPIO.BCM
)  #referring to pins by Boardcom SOC channel (i.e. not physical pin numbers)

# setup LCD
lcd = CharLCD(numbering_mode=GPIO.BCM,
              pin_rs=26,
              pin_e=19,
              pins_data=[21, 20, 16, 12],
              cols=16,
              rows=2)
lcd.clear()

# setup ultrasonics
uL = US.ultrasonic(trig=8, echo=7)
uR = US.ultrasonic(trig=6, echo=5)
uB = US.ultrasonic(trig=27, echo=22)

# setup motors
mL = MC.motor(23, 18, 14)  # enable, pin1, pin2
mR = MC.motor(4, 17, 3)  # enable, pin1, pin2

# setup encoders
eL = EC.encoder(24, 25)  #outA, out B
eR = EC.encoder(9, 11)
radius = 5  #in cm
distanceL = 0  # initialize distance travelled by left wheel
distanceR = 0  # initialize distance travelled by right wheel

#setup pulsecounts
Exemple #4
0
from subprocess import call

# initialize all
face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
lastTime = 0
faceState = -1

# allow the camera to warmup
time.sleep(0.1)

ultrasonicInstance = ultrasonic(18, 16)

# capture frames from the camera
for frame in camera.capture_continuous(rawCapture,
                                       format="bgr",
                                       use_video_port=True):
    # grab the raw NumPy array representing the image, then initialize the timestamp
    # and occupied/unoccupied text

    image = frame.array
    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    faces = face_cascade.detectMultiScale(gray, 1.3, 5)

    for (x, y, w, h) in faces:
        cv2.rectangle(image, (x, y), (x + w, y + h), (255, 0, 0), 2)
        roi_gray = gray[y:y + h, x:x + w]
import RPi.GPIO as GPIO
from time import sleep
import ultrasonic as US
import numpy as np

# setup ultrasonics
uL = US.ultrasonic(8,7)
uR = US.ultrasonic(6,5)
uB = US.ultrasonic(27,22)

# initialize variables
max_dist=0
min_dist=100
tot_dist=0

for i in range(20):
    dist = uL.measure()
    max_dist = max(max_dist,dist)
    min_dist = min(min_dist,dist)
    tot_dist += dist

mean_dist = tot_dist/20
print("mean: "+str(mean_dist))
print("range: "+str((max_dist-min_dist)/2))
Exemple #6
0
import ultrasonic
import accelerometer
import icamera
import time
import gsm

print '\n\n...................VEHICLE TRACKER..............\n\n\n'
##velocity,speed = ultrasonic.ultrasonic()
speed = ultrasonic.ultrasonic()

if (speed > 40):
    print '\n\nRule Break : Out of speed\n\n'
    ##x,y,z=accelerometer. accelerometer()
    stri = str(time.time()) + '.jpg'
    no_plate = icamera.mycamera(stri)
    #no_plate=' '
    p = no_plate
    gsm.gsm(p)
opt = raw_input('Do you want to search a particular vehicle? : (y/n)')
if opt == 'y':
    no_plate_check = input('Enter vehicle no : ')
    if no_plate == no_plate_check:
        print 'Found'
    else:
        print 'Not found'
else:
    print 'ok'

print '\n\nODD...EVEN\n\n'

if ((int)(no_plate)) % 2 == 0: