def main():
try:
ser = serial.Serial('/dev/ttyACM0', 115200)
except serial.serialutil.SerialException as e:
pass
tracker = Eyetracker()
tracker.getBoundingRectangle()
tracker.calibrate()
maxRotationVal = 40
minRotationVal = -40
start = time.time()
end = time.time()
blinktimer = 0
forwardmode = False
while True:
end = time.time()
dt = end - start
if tracker.detectBlink():
blinktimer += dt
else:
blinktimer = 0
start = time.time()
if blinktimer > 0.5:
if forwardmode:
forwardmode = False
else:
forwardmode = True
blinktimer = -9999
r = 192
f = 64
if not tracker.blink:
tracker.trackPupil()
dist = tracker.pupil[0] - tracker.center[0]
if dist > maxRotationVal:
dist = maxRotationVal
if dist < minRotationVal:
dist = minRotationVal
if dist < 0:
r = r - 63 * dist / minRotationVal
if dist > 0:
r = r + 63 * dist / maxRotationVal
if forwardmode:
print("FORWAAAAAARD")
f = 80
#ser.write(chr(r))
#ser.write(chr(f))
#print(r)
tracker.draw()
if cv2.waitKey(1) & 0xFF == ord('q'):
break
tracker.cam.release()
