def detect(path):
cascade = cv2.CascadeClassifier(path)
if webcam:
video_cap = cv2.VideoCapture("http://localhost:8081") # use 0,1,2..depanding on your webcam
else:
video_cap = cv2.VideoCapture("stopvideo.MOV")
steer(0)
# WINDOW_NAME = "Object Detection"
# cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_AUTOSIZE)
# cv2.startWindowThread()
drive(0.26)
while True:
# Capture frame-by-frame
ret, img = video_cap.read()
if (ret==False):
break
#converting to gray image for faster video processing
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
rects = cascade.detectMultiScale(gray, scaleFactor=scale_factor, minNeighbors=min_neighbors,
minSize=min_size)
# if at least 1 face detected
if len(rects) > 0:
# Draw a rectangle around the faces
#for (x, y, w, h) in rects:
# cv2.rectangle(img, (x, y), (x + w, y + h), (0, 255, 0), 2)
# print("Width"+str(w))
# print("Height"+str(h))
# print()
drive(-1)
time.sleep(3)
print("Object Detecting")
turn()
break
#steer(-1)
#drive(0.28)
#time.sleep(1)
#drive(0)
# Display the resulting frame
# r = 1000.0 / img.shape[1]
# dim = (1000, int(img.shape[0] * r))
# resized = cv2.resize(img, dim, interpolation = cv2.INTER_AREA)
# cv2.imshow(WINDOW_NAME, resized)
#wait for 'c' to close the application
# if cv2.waitKey(1) & 0xFF == ord('q'):
# stop()
# break
video_cap.release()
def turn():
steer(-1)
drive(0.28)
time.sleep(3)
steer(0)
drive(0.28)
time.sleep(1)
drive(0)
def on_new_client(clientsocket, addr):
counter = 0
while True:
try:
size = struct.unpack("i",
clientsocket.recv(struct.calcsize("i")))[0]
data = ""
#cmd = msg.decode(encoding='utf-8')
while len(data) < size:
msg = clientsocket.recv(size - len(data))
empty_socket(clientsocket)
if not msg:
break
data += msg.decode()
print(data)
counter += 1
if (counter > 10):
inControl.drive(.255)
except:
inControl.stop()
#clientsocket.close()
break
#subprocess.call(data, shell=True)
if "steer" in data:
words = data.split()
amt = float(words[1])
inControl.steer(amt)
if "speed" in data:
words = data.split()
amt = float(words[1])
inControl.drive(amt)
#time.sleep(0.1)
clientsocket.close()
def stopCar():
global stopped
#print("Stopped")
if (stopped == False):
inControl.drive(-1)
time.sleep(0.3)
inControl.drive(0)
stopped = True
else:
inControl.drive(0)
print(distances)
time.sleep(0.03)
value = (abs(distances[0] - distances[1]) <
THRESH) & (abs(distances[2] - distances[1]) < THRESH) & (
abs(distances[0] - distances[2]) < THRESH)
if (value & (np.mean(distances) < 50)):
stopCar()
else:
stopped = False
#inControl.drive(.26)
sonar.cancel()
pi.stop()
def stopCar():
global stopped
#print("Stopped")
if (stopped == False):
inControl.drive(-1)
time.sleep(0.3)
inControl.drive(0)
stopped = True
else:
inControl.drive(0)
if (__name__ == "__main__"):
inControl.drive(0)
main()
def doCommand(cEntry, q, workerList):
global Stopped
HARD_TURN = 1
WAIT_AMT = 2.1
#bits = cString.split()
"""
<priority> <timestamp> <steer|drive|stop> <amt>
"""
command = cEntry.command
amt = float(cEntry.amount)
print("Command is %s amount is %.2f" % (command, amt))
if (command == "steer"):
inControl.steer(amt)
elif (command == "drive"):
if (amt <= 0 and Stopped == True):
amt = 0
elif (amt <= 0 and Stopped == False):
Stopped = True
else:
Stopped = False
print("Amount %f" % amt)
inControl.drive(amt)
elif (command == "stop"):
inControl.stop()
time.sleep(amt)
elif (command == "stopright"):
Stopped = True
signalDump(workerList, True)
inControl.drive(-1) #TODO
time.sleep(amt)
inControl.steer(HARD_TURN * -1)
inControl.drive(.28)
time.sleep(WAIT_AMT)
inControl.steer(0)
signalDump(workerList, False)
Stopped = False
#time.sleep(.3)
elif (command == "stopleft"):
Stopped = True
signalDump(workerList, True)
inControl.drive(-1) #TODO
time.sleep(amt)
inControl.steer(HARD_TURN * 1)
inControl.drive(.3)
time.sleep(WAIT_AMT)
#inControl.drive(.26)
inControl.steer(0)
signalDump(workerList, False)
inControl.drive(0)
time.sleep(.6)
inControl.drive(.28)
#time.sleep(.3)
Stopped = False
elif (command == "stopcenter"):
Stopped = True
#ts0=cEntry.timestamp
signalDump(workerList, True)
inControl.drive(-1) #TODO
time.sleep(amt)
inControl.drive(.28)
inControl.steer(0)
#time.sleep(1)
signalDump(workerList, False)
#ts1 = time.time()
Stopped = False
else:
print("Command not recognized")
import edgeDetect.live_image as live_image
from servoController.inputController import drive, steer, stop
from time import sleep
from simple_pid import PID
steer(0)
drive(0)
c = "CENTER"
l = "LEFT"
r = "RIGHT"
steerMax = .8
centerSteer = 0
live_image.run()
try:
drive(.26)
while (True):
angle = live_image.liveAngle
botOfLine = live_image.liveLine
# if(botOfLine == "NONE"):
# drive(-1)
# steer(0)
# sleep(1)
# drive(0)
# exit()
#print("Got angle of %d" % (angle))
if (angle > -88 and angle < 0):
#drive(.28)
if angle > -60.0:
angle = -60.0
200] #200cm 5 value scrolling window for fiter
def medianFilt(val):
for i in range(0, 9):
arr[i] = arr[i + 1]
arr[9] = val
temp = arr.copy()
temp.sort()
#print("Array is " + str(arr))
return temp[5]
getDistance()
getDistance()
steer(-.22)
drive(0.28)
while (True):
val = getDistance()
val = medianFilt(val)
print("Distance is: %.2f" % val)
if (val < 60.0):
drive(-1)
sleep(1)
stop()
break
print("Stopped")
print("Done")
cleanUp()
exit()