def rgt(x):
pantilthat.servo_one(x)
return
return
def up(z):
pantilthat.servo_two(z)
return
def dwn(z):
pantilthat.servo_two(z)
return
#Main Program Loop
x, z, i = 0, 0, 5
pantilthat.servo_one(x)
pantilthat.servo_one(z)
while c != ord('q'):
c = stdscr.getch()
if c == ord('a') and x <= 90:
for i in range(3):
a = threading.Thread(target=lft, args=(x, ))
a.setDaemon(True)
a.start()
x = x + 1
if c == ord('d') and x >= -90:
for i in range(3):
a = threading.Thread(target=rgt, args=(x, ))
a.setDaemon(True)
a.start()
def nope(x):
if x >= 0:
pantilthat.servo_one(-90)
sleep(.15)
pantilthat.servo_one(90)
sleep(.15)
pantilthat.servo_one(-90)
sleep(.15)
pantilthat.servo_one(90)
sleep(.15)
pantilthat.servo_one(0)
else:
pantilthat.servo_one(90)
sleep(.15)
pantilthat.servo_one(-90)
sleep(.15)
pantilthat.servo_one(90)
sleep(.15)
pantilthat.servo_one(-90)
sleep(.15)
pantilthat.servo_one(x)
return
import cv2
import numpy as np
import pantilthat
cap = cv2.VideoCapture(0)
pantilthat.servo_enable(1, True)
pantilthat.servo_enable(2, True)
pantilthat.servo_one(0)
pantilthat.servo_two(0)
while True:
_, frame = cap.read()
hsv_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# red color
low_red = np.array([161, 155, 84])
high_red = np.array([179, 255, 255])
red_mask = cv2.inRange(hsv_frame, low_red, high_red)
##Detect biggest red object
contours, _ = cv2.findContours(red_mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=lambda x: cv2.contourArea(x), reverse=True)
#draw rectangle on biggest contour
for cnt in contours:
(x, y, w, h) = cv2.boundingRect(cnt)
cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
import pantilthat
import time
import math
while True:
# Set the maximum high pulse for a servo in microseconds.
# pantilthat.servo_pulse_max(index, 100)
# set position of servo one in degrees
pantilthat.servo_one(-20)
# set position of servo two in degrees
pantilthat.servo_two(0)
# get position of servo one
#pantilthat.get_pan()
hori = list(range(-20,20))
vert = list(range(0,-60,-5))
for j in vert:
pantilthat.tilt(j)
for i in hori:
pantilthat.pan(i)
time.sleep(0.01)
import pantilthat
import math
while True:
pantilthat.servo_one(0)
pantilthat.servo_two(0)
import pantilthat
import time
import math
# Set the maximum high pulse for a servo in microseconds.
# pantilthat.servo_pulse_max(index, 100)
# set position of servo one in degrees
pantilthat.servo_one(-90)
# set position of servo two in degrees
pantilthat.servo_two(-10)
# get position of servo one
pantilthat.get_pan()
# -----
a = 0
stop = 0
while True:
# Get the time in seconds
t = time.time()
# G enerate an angle using a sine wave (-1 to 1) multiplied by 90 (-90 to 90)
a = math.sin(t * 2) * 90
# Cast a to int for v0.0.2
a = int(a)
pantilthat.pan(a)
pantilthat.tilt(0)
# Two decimal places is quite enough!
print(a, t)
self.stop_event.set()
self.join()
def stop_camera(self):
self.pi_camera.close()
c_thread = Camerathread()
c_thread.start()
pantilthat.servo_enable(1, True)
pantilthat.servo_enable(2, True)
v_angle = 0
p_angle = 0
pantilthat.servo_one(v_angle)
pantilthat.servo_two(p_angle)
sk_command = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sk_camera = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sk_command.sendto("Hello", ip_port_1)
time.sleep(1)
sk_camera.sendto("Hello", ip_port_2)
time.sleep(1)
#sk_command.connect(ip_port_1)
#sk_camera.connect(ip_port_2)
comm_thread = CommandRecvthread(comm_socket=sk_command)
comm_thread.start()
input_thread = InputThread()
input_thread.start()
im_thread = Imagesendthread(sk_camera)