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 forever():
global x_axis, width, pan_angle
x_axis = Vilib.color_detect_object('x')
width = Vilib.color_detect_object('width')
delay(5)
if x_axis == -1:
pan_angle = pan_angle - 1
pan_angle = constrain(pan_angle, -90, 90)
set_camera_servo1_angle(pan_angle)
pan_angle = constrain(pan_angle, -45, 45)
set_dir_servo_angle(pan_angle)
elif x_axis == 1:
pan_angle = pan_angle + 1
pan_angle = constrain(pan_angle, -90, 90)
set_camera_servo1_angle(pan_angle)
pan_angle = constrain(pan_angle, -45, 45)
set_dir_servo_angle(pan_angle)
if width > 50:
forward(50)
else:
stop()