def __init__(self):
# initialize all instances
self.pid = PID2d(2.28, 0.000, -0.0000228)
self.camera_thread = camera_module.camera_thread()
self.v = [0., 0.]
self.shoot = 0
threading.Thread.__init__(self)
import gesture_detection
import localizer
import movement
from camera_module import camera_thread
cam_front = camera_thread(0)
cam_down = camera_thread(1)
cam_front.start()
cam_down.start()
def hit_flare(cur_pos):
fwd_count = 25 # around 5 sec
bwd_count = 15 # around 3 sec
ok_to_go = False
while True:
img_front = cam_front.read()
img_down = cam_down.read()
coords_front = gesture_detection.get_coord_from_detection(img_front)
cur_pos[0], cur_pos[1], cur_pos[2] = localizer.get_pos(img_down, cur_pos[0], cur_pos[1], cur_pos[2])
x, y = coords_front[0][0], coords_front[0][1]
if x < 700:
movement.turn_right()
continue
elif x > 800:
movement.turn_left()
continue
elif coords_front[3] >= 200: # change this after testing
ok_to_go = True
if ok_to_go is True and fwd_count is not 0:
movement.move_fwd()
import data_retriver
import robot_prop
import time
from camera_module import camera_thread
import armor_plate_mod
import rune_mod
data_reader = data_retriver.data_reader_thread()
data_reader.start()
camera_thread = camera_thread()
camera_thread.start()
Target_lock = 0
while True:
mode = robot_prop.mode
if mode == 1:
Target_lock = armor_plate_mod.run(camera_thread, Target_lock)
elif mode == 0:
time.sleep(0.1)
else:
rune_mod.run(camera_thread)
def __init__(self):
self.pid = PID2d(2.28, 0.000, -0.0000228)
self.camera_thread = camera_module.camera_thread()
self.camera_thread.start()