import numpy as np
import sys, select
import cv2
import time
import os
import RPi.GPIO as GPIO
from minisumo_motorcontrol2 import Motors_Class
from lineSense2 import lineSensor_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol3 import Motors_Class2
#anything less than 15 switch to short range sensors
motor1 = Motors_Class()
lineSensors = lineSensor_Class()
shortrange = shortrange_Class()
motor2 = Motors_Class2()
cap = cv2.VideoCapture(0)
SPICLK = 18
SPIMISO = 23
SPIMOSI = 24
SPICS = 25
class longrange_Class:
def __init__(self):
GPIO.setmode(GPIO.BCM)
global SPICLK
global SPIMISO
global SPIMOSI
global SPICS
import numpy as np from lineSense2 import lineSensor_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 import sys, select import cv2 lineSensors = lineSensor_Class() motors= Motors_Class() motors2= Motors_Class2() cap = cv2.VideoCapture(0) # take first frame of the video ret,frame = cap.read() # setup initial location of window r,h,c,w = 250,150,400,150 # simply hardcoded the values track_window = (c,r,w,h) # set up the ROI for tracking roi = frame[r:r+h, c:c+w] hsv_roi = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv_roi, np.array((0., 60.,32.)), np.array((180.,255.,255.))) roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180]) cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX) # Setup the termination criteria, either 10 iteration or move by atleast 1 pt term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 ) direct='w' lastdist=0
