def move(rect):
(x,y,w,h) = rect
center = (320,240)
rect_center = (x+w//2, y+h//2)
cv2.circle(img, center, 1, (0, 0, 255), 2);
cv2.circle(img, rect_center, 1, (0, 0, 255), 2);
go_back = -1
right_left = -1
if w*h > 45000 or y < 50:
go_back = 2
elif w*h < 35000 or y > 430:
go_back = 1
else:
go_back = 0
if rect_center[0] > center[0]+100:
right_left = 2
elif rect_center[0] < center[0]-100:
right_left = 1
else:
right_left = 0
location = (('stop','go','back'),
('left','go_left','back_left'),
('right','go_right','back_right'))
loc = location[right_left][go_back]
if loc == 'stop':
m.stop()
elif loc == 'go':
m.go()
elif loc == 'back':
m.back()
elif loc == 'left':
m.left()
elif loc == 'right':
m.right()
elif loc == 'go_left':
m.go_left()
elif loc == 'go_right':
m.go_right()
elif loc == 'back_left':
m.back_left()
elif loc == 'back_right':
m.back_right()
print(loc)
if distance[front] > clearance and distance[
frontLeft] > clearance and distance[frontRight] > clearance:
motor.front(m1, m2)
elif distance[frontRight] > distance[frontLeft]:
if distance[frontRight] > clearance:
motor.turnRight(m1, m2)
sleep(2.5)
motor.front(m1, m2)
elif distance[frontLeft] > clearance:
motor.turnLeft(m1, m2)
sleep(2.5)
motor.front(m1, m2)
else:
motor.back(m1, m2)
sleep(5)
if (distance[backRight] >
distance[backLeft]) and distance[backRight] > clearance:
motor.turnLeft(m1, m2)
sleep(2.5)
motor.front(m1, m2)
elif distance[backLeft] > clearance:
motor.turnRight(m1, m2)
sleep(2.5)
motor.front(m1, m2)
loop()
def back():
data = json.loads(request.data)
sleepTime = data['time']
motor.back(sleepTime)
result = {'status': 'back'}
return Response(json.dumps(result), mimetype='application/json')
def move(rect):
(x, y, w, h) = rect
center = (320, 240)
rect_center = (x + w // 2, y + h // 2)
cv2.circle(img, center, 1, (0, 0, 255), 2)
cv2.circle(img, rect_center, 1, (0, 0, 255), 2)
go_back = -1
right_left = -1
if w * h > 45000 or y < 50:
go_back = 2
elif w * h < 35000 or y > 430:
go_back = 1
else:
go_back = 0
if rect_center[0] > center[0] + 100:
right_left = 2
elif rect_center[0] < center[0] - 100:
right_left = 1
else:
right_left = 0
location = (('stop', 'go', 'back'), ('left', 'go_left', 'back_left'),
('right', 'go_right', 'back_right'))
loc = location[right_left][go_back]
'''
x= np.linspace(0,640,8)
x2 = np.linspace(0,640,6)
degree = np.array([4.5,5.5,6.5,7.5,8.5,9.5,10.5])
degree2 = np.array([4.5,6,7.5,9,10.5])
for i in range(0,len(degree)):
if x[i] < rect_center[0] and x[i+1] > rect_center[0]:
m.setServo(degree[i])
time.sleep(0.3)
break
'''
if loc == 'stop':
m.stop()
elif loc == 'go':
m.go()
elif loc == 'back':
m.back()
elif loc == 'left':
m.left()
elif loc == 'right':
m.right()
elif loc == 'go_left':
m.go_left()
elif loc == 'go_right':
m.go_right()
elif loc == 'back_left':
m.back_left()
elif loc == 'back_right':
m.back_right()
print(loc)
time.sleep(0.05)
key = stdscr.getch()
# Parse input
if key == ord('m') or key == ord('M'):
manual = not manual
elif manual and (key == ord('w') or key == ord('W')):
output.addstr("Going forwards\n")
motor.stop()
motor.forward()
# elif manual and (key == ord('a') or key == ord('A')):
# motor.left(90)
elif manual and (key == ord('s') or key == ord('S')):
output.addstr("Going backwards\n")
motor.stop()
motor.back()
# elif manual and (key == ord('d') or key == ord('D')):
# motor.right(90)
elif key == ord(' '):
output.addstr("Stopping\n")
motor.stop()
elif key == ord('r') or key == ord('R'):
# Reset all variables to initial state
read = 999
in_front = False
in_front_count = 0
crossed = False
# Closing tasks
brick.close()
curses.endwin()