def track():
global taskInput
global Locked_On_Block
global Locked_Block_Index
global Blocks
global Count
global Pan
# while taskInput != "S":
Count = pixy.ccc_get_blocks (100, Blocks)
if Count > 0:
# Block acquisition logic #
if Locked_On_Block:
# Find the block that we are locked to #
for Index in range (0, Count):
Pan_Offset = (pixy.get_frame_width () / 2) - Blocks[Index].m_x;
Tilt_Offset = Blocks[Index].m_y - (pixy.get_frame_height () / 2)
Pan_PID_Controller.Update (Pan_Offset)
Tilt_PID_Controller.Update (Tilt_Offset)
pixy.set_servos (Pan_PID_Controller.Command, Tilt_PID_Controller.Command)
Pan = Pan_PID_Controller.Command;
else:
# Find an acceptable block to lock on to #
if Blocks[0].m_age > MINIMUM_BLOCK_AGE_TO_LOCK:
Locked_Block_Index = Blocks[0].m_index;
Locked_On_Block = True
else:
Reset ()
if Count > 0:
Frame = Frame + 1
# Block acquisition logic #
if Locked_On_Block:
# Find the block that we are locked to #
for Index in range(0, Count):
if Blocks[Index].m_index == Locked_Block_Index:
print('Frame %3d: Locked' % (Frame))
Display_Block(Index, Blocks[Index])
Pan_Offset = (pixy.get_frame_width() /
2) - Blocks[Index].m_x
Tilt_Offset = Blocks[Index].m_y - (
pixy.get_frame_height() / 2)
Pan_PID_Controller.Update(Pan_Offset)
Tilt_PID_Controller.Update(Tilt_Offset)
pixy.set_servos(Pan_PID_Controller.Command,
Tilt_PID_Controller.Command)
else:
print('Frame %3d:' % (Frame))
# Display all the blocks in the frame #
for Index in range(0, Count):
Display_Block(Index, Blocks[Index])
# Find an acceptable block to lock on to #
if Blocks[0].m_age > MINIMUM_BLOCK_AGE_TO_LOCK:
while 1:
Count = pixy.ccc_get_blocks (1, Blocks)
if Count > 0:
Frame = Frame + 1
# Block acquisition logic #
if Locked_On_Block:
# Find the block that we are locked to #
for Index in range (0, Count):
if Blocks[Index].m_index == Locked_Block_Index:
print ('Frame %3d: Locked' % (Frame))
Display_Block (Index, Blocks[Index], Pan_PID_Controller.Command)
Pan_Offset = (pixy.get_frame_width () / 2) - Blocks[Index].m_x;
Tilt_Offset = Blocks[Index].m_y - (pixy.get_frame_height () / 2)
Pan_PID_Controller.Update (Pan_Offset)
Tilt_PID_Controller.Update (Tilt_Offset)
pixy.set_servos (round(Pan_PID_Controller.Command), round(Tilt_PID_Controller.Command))
else:
print ('Frame %3d:' % (Frame))
# Display all the blocks in the frame #
for Index in range (0, Count):
Display_Block (Index, Blocks[Index], 2048)
# Find an acceptable block to lock on to #
if Blocks[0].m_age > MINIMUM_BLOCK_AGE_TO_LOCK:
def get_frame_dimensions_pixels(self):
return (pixy.get_frame_width(), pixy.get_frame_height())