def main():
create_library.make_functions_for_the_create_robot()
create_library.connect_to_arduino()
time.sleep(1.0)
while True:
if create_library.read_chr() == 's':
break
create_library.start()
create_library.full()
drone = bebop.Bebop(8080, True)
drone._send_string('send_to_drone_true')
pixy.pixy_init()
#drone.connect()
#drone.takeoff()
start_logging()
time.sleep(1)
#drone.move_seconds('forward', 10, 2)
create_library.drive_direct(50, 50)
desired = CENTER
pid_loop(drone, CENTER, BLOCKS)
drone.land()
drone.disconnect()
def render(self,lisenPort,mocapClientIP,pluginClientIP):
from pixy import BlockArray,pixy_init
if self._serverThred:
self._serverThred.render(lisenPort,mocapClientIP,pluginClientIP)
###
# Initialize Pixy Interpreter thread #
pixy_init()
self.blocks = BlockArray(100)
self.start()
def __init__(self):
if not pixy.pixy_init() == 0:
print("Error opening camera")
pixy.pixy_cam_set_auto_white_balance(10)
pixy.pixy_cam_set_auto_exposure_compensation(100)
self._hog = cv2.HOGDescriptor()
self._hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector())
def main():
print("Pixy Python " + VERSION)
# Create directory to save images
if not os.path.exists(IMAGES_DIR):
os.mkdir(IMAGES_DIR)
# Create a directory for this session
image_dir = IMAGES_DIR + "/" + str(
datetime.now().strftime("%Y%m%d_%H%M%S"))
os.mkdir(image_dir)
print("Saving images to " + image_dir)
print("Press Q to quit.")
pixy.pixy_init() # Initialize Pixy interface
pixy.pixy_command("stop") # Stop default program
# Allocate memory to store image from camera
data = pixy.byteArray(SUB_WIDTH * SUB_HEIGHT)
# Allocate numpy matrix to display
frame = np.zeros((FRAME_HEIGHT, FRAME_WIDTH, 1), dtype=np.uint8)
frame_cnt = 0
while True:
get_subframe(data, frame, 0, 0)
get_subframe(data, frame, 320, 0)
get_subframe(data, frame, 0, 200)
get_subframe(data, frame, 320, 200)
# Show image
cv2.imshow('pixy', frame)
# Save image to file. Use bitmap format because it's lossless and easy to read back/analyze.
if frame_cnt < MAX_SAVED_IMAGES_COUNT:
cv2.imwrite(image_dir + '/{:06d}.bmp'.format(frame_cnt), frame)
frame_cnt = frame_cnt + 1
# Check user request to exit
if cv2.waitKey(1) == ord('q'):
break
# Sleep 20ms. Camera can only sample at 50fps max.
time.sleep(.02)
cv2.destroyAllWindows()
pixy.pixy_close()
def main(ecv):
pixy.pixy_init()
pixy.pixy_command("stop")
# Get current exposure values
print("Current exposure setting:")
print_exposure()
# Set exposure value
gain = ecv & 0xFF
comp = (ecv >> 8) & 0xFFFF
pixy.pixy_cam_set_exposure_compensation(gain, comp)
# Confirm exposure value
print("")
print("Exposure set to:")
print_exposure()
# Close connection
pixy.pixy_close()
def setup():
"""
One time setup. Inialize pixy and set sigint handler
"""
global blocks
pixy_init_status = pixy.pixy_init()
if pixy_init_status != 0:
print 'Error: pixy_init() [%d] ' % pixy_init_status
pixy.pixy_error(pixy_init_status)
return
else:
print "Pixy setup OK"
blocks = pixy.BlockArray(BLOCK_BUFFER_SIZE)
signal.signal(signal.SIGINT, handle_SIGINT)
def pid(desired_point, kP=0):
'''
:type desired_point: Point
:type kP: float
'''
pixy.pixy_init()
while True:
block = get_block()
actual_point = Point(block[0].x, block[0].y)
x_error = desired_point.x - actual_point.x
direction = 'right'
if x_error < 0:
direction = 'left'
x_speed = math.floor(x_error * kP * 30)
print ('D: ', desired_point.x, desired_point.y)
print ('A: ', actual_point.x, actual_point.y)
print(direction, x_speed)
time.sleep(.5)
round
def setup():
"""
One time setup. Inialize pixy and set sigint handler
"""
pixy_init_status = pixy.pixy_init()
if pixy_init_status != 0:
print 'Error: pixy_init() [%d] ' % pixy_init_status
pixy.pixy_error(pixy_init_status)
return
else:
print "Pixy setup OK"
signal.signal(signal.SIGINT, handle_SIGINT)
pixy.pixy_cam_set_brightness(BRIGHTNESS)
pixy.pixy_rcs_set_position(PIXY_RCS_PAN_CHANNEL, PIXY_RCS_CENTER_POS)
if chatty:
sayNow("I may not be the fastest but I have style")
#say("SLEEP 2")
time.sleep(2)
def setup():
global blocks
# Serial.begin(9600)
pixy_init_status = pixy.pixy_init()
if pixy_init_status != 0:
print 'Error: pixy_init() [%d] ' % pixy_init_status
pixy_error(pixy_init_status)
return
else:
print "Pixy setup OK"
rr.set_motors(0, 0, 0, 0)
blocks = pixy.BlockArray(BLOCK_BUFFER_SIZE)
signal.signal(signal.SIGINT, handle_SIGINT)
rr.set_led1(1)
time.sleep(0.1)
rr.set_led1(0)
rr.set_led2(1)
time.sleep(0.1)
rr.set_led2(0)
def initialize_pixy():
pixy.pixy_init()
return True
XSHAPE.append(CENTER[0]) XSHAPE.append(V2[0]) YSHAPE.append(V1[1]) YSHAPE.append(CENTER[1]) YSHAPE.append(V2[1]) # Draw count variable holdCount = 0 # Set servo channels servo1 = 0 servo2 = 15 # Initialize Pixy Interpreter thread pixy.pixy_init() blocks = pixy.Block() # Initialize the PWM device using the default address pwm = PWM(0x40) # Uncomment for debugging mode # pwm = PWM(0x40, debug = True) # Define suitable pulse ranges servo1Min = 10.0 servo1Max = 600.0 servo2Max = 600.0 servo2Min = 10.0 # Set open loop pulses
amount_received = 0
dataBuffer = ""
while amount_received < amount_expected:
dataBuffer = dataBuffer + connection.recv(amount_expected - amount_received)
amount_received += len(dataBuffer)
if amount_received == amount_expected:
unpacked_data = unpacker.unpack_from(dataBuffer, 0)
queue.put(unpacked_data[0])
# dont know if this is needed
queue.task_done()
###
# Initialize Pixy Interpreter thread #
pixy_init()
blocks = BlockArray(100)
frame = 0
##
# inisilise clasification
clasification = dict()
clasifiedTag = 0
maxPoints = 20
pointDataSize = 6
MOCAP_CLASSIFY_DATA = 2222
server_cmd = 1001
###
# Setup data stream
CMD_PASS = 1001
from ctypes import *
from PiStorms import PiStorms
from mindsensors_i2c import mindsensors_i2c
from mindsensors import ABSIMU
psm = PiStorms()
absimu = ABSIMU()
#print screen
def p(row, text):
psm.screen.termPrintAt(row, text)
blockSize = 20 # Correct number
pixy_init()
class Finder(object):
def __init__(self, driver, SubsumptionPixy, grabber):
self.driver = driver
self.SubsumptionPixy = SubsumptionPixy
self.grabber = grabber
self.blockFound = False
def turn(self):
data = self.SubsumptionPixy.findBlocks()
for block in data:
# print "X: " + str(block.x)