angleOrientation = abs(360 - angleOrientation)
if angleOrientation < 180:
controleurDeplacement.rotationAHoraire(angleOrientation, 0.5)
else:
angleOrientation = abs(360 - angleOrientation)
controleurDeplacement.rotationHoraire(angleOrientation, 0.5)
controleurCamera.set_camera_angle_x(90)
controleurCamera.set_camera_angle_y(20)
photo = cameraRobot.prendrePhoto()
cv2.imshow('photo',photo)
cv2.waitKey(0)
distanceAjuste = 1000
distanceAStation = 0
while distanceAjuste > 30:
distanceAjuste,distanceAStation = ajustement.determineAjustement(photo, 90, positionXRobot, positionYRobot, repereX, repereY, ratioCMPixel)
if distanceAjuste < 0:
controleurDeplacement.gauche(distanceAjuste * ratioCMPixel, 0.3)
else:
controleurDeplacement.droite(distanceAjuste * ratioCMPixel, 0.3)
direction = orientationRobot % 180
erreurAngle = 30
piAngle = 90
if direction < erreurAngle and direction > -erreurAngle:
positionYRobot = positionYRobot - distanceAjuste
elif direction < piAngle + erreurAngle and direction > piAngle - erreurAngle:
positionXRobot = positionXRobot - distanceAjuste
if distanceAStation < 0:
distanceAStation = abs(distanceAStation)
directionAjustement = 1000
distanceAavantAjustement = 0
distanceUnPasAjustement = 0.5
vitesseDeplacement = 0.3
deltaX = 10
deltaY = 900
voltageMaximum = 4.5
perimetreMinimum = 400
perimetreMaximum = 800
while abs(directionAjustement) > deltaX or distanceAavantAjustement < deltaY:
photot = None
photot = cameraRobot.prendrePhoto()
directionAjustement, distanceAavantAjustement = ajustement.determineAjustement(photot,localisationTresor.haut_vert,localisationTresor.bas_vert, perimetreMinimum, perimetreMaximum)
print(distanceAavantAjustement, directionAjustement)
if directionAjustement < 0 and abs(directionAjustement) > deltaX:
controleurDeplacement.gauche(distanceUnPasAjustement, vitesseDeplacement)
elif abs(directionAjustement) > deltaX:
controleurDeplacement.droite(distanceUnPasAjustement, vitesseDeplacement)
if distanceAavantAjustement < deltaY:
controleurDeplacement.avancer(distanceUnPasAjustement, vitesseDeplacement)
distanceAvance += distanceUnPasAjustement
code = decodeur.demanderCode()
demande = 'https://192.168.1.2/?code=' + code
while reponse == '':
try:
reponse = requests.get(demande, 443, verify = False)
except: