def shoot_panorama(camera, motors, shots=5):
s = 1
im = IMR.Imager(image=camera.update()).scale(s, s)
rotation_time = 3 / shots # At a speed of 0.5(of max), it takes about 3 seconds to rotate 360 degrees
for i in range(shots - 1):
motors.right(0.5, rotation_time)
im = im.concat_horiz(IMR.Imager(image=camera.update()))
return im
def shoot_panorama(shots=5):
camera = Camera()
motors = Motors()
s = 1
im = IMR.Imager(image=camera.update()).scale(s, s)
rotation_time = 3 / shots # At a speed of 0.5(of max), it takes about 3 seconds to rotate 360 degrees
for i in range(shots - 1):
motors.right(0.5, rotation_time)
im = im.concat_horiz(IMR.Imager(image=camera.update()))
im.dump_image("/root/Oving6_Plab/basic_robot/bilder/test.png")
return im
def sense_and_act(self):
"""
Rød: Snu venstre
Grønn: Snu høyre
"""
if self.picture_taken == True:
self.motor_recs = ('S', 0)
self.weight = 1
else:
print('Tar bildet.')
im = IMR.Imager(image=self.sensor.update()).scale(1, 1)
im.dump_image('tatt_bilde.jpeg')
color = self.sensor.get_color()
print("Test color:", color)
self.match_degree = 1
self.weight = 1
if color == 'red':
self.motor_recs = ('L', 90)
elif color == 'green':
self.motor_recs = ('R', 90)
else:
self.motor_recs = ('L', 180)
self.halt_request = True # Stopper hele testen dersom
self.picture_taken = True
self.bbcon.active_count = False # Stopp hele programmet
def sense_and_act(self):
if self.active_flag:
im = IMR.Imager(image=self.sensob.get_value())
im.dump_image('garbage'+str(self.photo_count)+'.jpeg')
self.photo_count += 1
self.match_degree = 0
else:
self.match_degree = 1
def sense_and_act(self):
#When zumo is within 10cm of an object take_photo should have greater weight
if not self.bbcon.picture_taken and self.active_flag:
im = IMR.Imager(image=self.sensob.get_value()[0])
print("TAKING PHOTO")
im.dump_image('garbage' + str(self.photo_count) + '.jpeg')
self.photo_count += 1
self.bbcon.picture_taken = True
self.motor_recommendations = [["f", 0, 0.1]]
self.match_degree = 0
def __init__(self):
super(DuckFinder, self).__init__()
self.width = 48
self.height = 36
self.sensor = Camera(img_width=self.width, img_height=self.height)
# os.system('rm -f image.png')
self.value = None
self.K = 12
self.imager = IMR.Imager(width=self.width, height=self.height)
self.interpretation = 2.0
def sense_and_act(self):
im = self.sensor.get_value()
im = IMR.Imager(image=im).scale(3, 3)
im.dump_image("test.jpeg")
#im.display()
if im.blackboi():
print("pic is dark!")
self.motor_recommendation = ['B', 20]
self.match_degree = 1
else:
print("pic is bright")
self.motor_recommendation = ['S', 0]
self.match_degree = 0.02
def duck_color():
width = 48
height = 36
camera = Camera(img_width=width, img_height=height)
button = ZumoButton()
while True:
button.wait_for_press()
image = IMR.Imager(image=camera.update())
rgb_table = [[image.get_pixel(x, y) for y in range(0, height)]
for x in range(0, width)]
for i in range(0, width):
for j in range(0, height):
print(rgb_table[i][j], end=" ")
print()
print()
def __init__(self):
self.cam = Camera()
self.im = IMR.Imager("bilder/bilde.png")
self.s = 1
def takePic(self):
return IMR.Imager(image=self.cam.update().scale(self.s, self.s))
def takePic(self):
im = IMR.Imager(image=self.cam.update()).scale(self.s, self.s)
#im.dump_image("/root/Oving6_Plab/basic_robot/bilder/bilde.png")
return im
def snap(self):
return IMR.Imager(image=self.cam.update())
def cameraTest():
camera = Camera()
s = 1
im = IMR.Imager(image=camera.update()).scale(s, s)
im.dump_image("/root/Oving6_Plab/basic_robot/bilder/test2.png")
def __init__(self, sensor):
Sensob.__init__(self, sensor)
self.direction = 0
self.sensor.img_width = 90
self.sensor.img_height = 40
self.imager = imager2.Imager(False, False, self.sensor.img_width, self.sensor.img_height)
