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: