def run(self):
self.robot.set_pan(0)
self.robot.set_tilt(0)
camera = camera_stream.setup_camera()
speed_pid = PIController(proportional_constant=0.8,
integral_constant=0.1 , windup_limit=100)
direction_pid = PIController(proportional_constant=0.25,
integral_constant=0.05, windup_limit=400)
time.sleep(0.1)
self.robot.servos.stop_all()
print("Setup Complete")
print('Radius, Radius error, speed value, direction error, direction value')
for frame in camera_stream.start_stream(camera):
(x, y), radius = self.process_frame(frame)
self.process_control()
if self.running and radius > 20:
radius_error = self.correct_radius - radius
speed_value = speed_pid.get_value(radius_error)
direction_error = self.center - x
direction_value = direction_pid.get_value(direction_error)
print(f"{radius}, {radius_error}, {speed_value:.2f}, {direction_error}, {direction_value:.2f}")
# Now produce left and right motor speeds
self.robot.set_left(speed_value - direction_value)
self.robot.set_right(speed_value + direction_value)
else:
self.robot.stop_motors()
if not self.running:
speed_pid.reset()
direction_pid.reset()
def frame_generator():
"""This is our main video feed"""
camera = camera_stream.setup_camera()
# allow the camera to warm up
time.sleep(0.1)
for frame in camera_stream.start_stream(camera):
encoded_bytes = camera_stream.get_encoded_bytes_for_frame(frame)
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + encoded_bytes + b'\r\n')
def controlled_image_server_behavior():
camera = camera_stream.setup_camera()
time.sleep(0.1)
for frame in camera_stream.start_stream(camera):
encoded_bytes = camera_stream.get_encoded_bytes_for_frame(frame)
put_output_image(encoded_bytes)
instruction = get_control_instruction()
if instruction and instruction['command'] == "exit":
print("Stopping")
return
def run(self):
camera = camera_stream.setup_camera()
time.sleep(0.1)
print("Setup Complete")
for frame in camera_stream.start_stream(camera):
(x, y, w, h) = self.process_frame(frame)
self.process_control()
if self.running and h > self.min_size:
pan_error = self.center_x - (x + (w / 2))
pan_value = self.pan_pid.get_value(pan_error)
self.robot.set_pan(int(pan_value))
tilt_error = self.center_y - (y + (h / 2))
tilt_value = self.tilt_pid.get_value(tilt_error)
self.robot.set_tilt(int(tilt_value))
print(
f"x: {x}, y: {y}, pan_error: {pan_error}, tilt_error: {tilt_error}, pan_value: {pan_value:.2f}, tilt_value: {tilt_value:.2f}"
)
def run(self):
# Set pan and tilt to middle, then clear it.
self.robot.set_pan(0)
self.robot.set_tilt(0)
# start camera
camera = camera_stream.setup_camera()
# warm up and servo move time
time.sleep(0.1)
# Servo's will be in place - stop them for now.
self.robot.servos.stop_all()
print("Setup Complete")
# Main loop
for frame in camera_stream.start_stream(camera):
self.make_display(frame)
self.process_control()
# Auto stop
if time.time() > self.last_time + TIMEOUT_IN:
self.robot.stop_motors()
def run(self):
self.robot.set_pan(0)
self.robot.set_tilt(90)
camera = camera_stream.setup_camera()
direction_pid = PIController(proportional_constant=0.4,
integral_constant=0.01,
windup_limit=400)
time.sleep(1)
self.robot.servos.stop_all()
print("Setup Complete")
last_time = time.time()
for frame in camera_stream.start_stream(camera):
x, magnitude = self.process_frame(frame)
self.process_control()
if self.running and magnitude > self.diff_threshold:
direction_error = self.center - x
new_time = time.time()
dt = new_time - last_time
direction_value = direction_pid.get_value(direction_error,
delta_time=dt)
last_time = new_time
print(
f"Error: {direction_error}, Value:{direction_value:2f}, t: {new_time}"
)
# self.last_error = direction_error
# self.last_value = direction_value
# speed = self.speed
# speed -= abs(direction_value) / 3
self.robot.set_left(self.speed - direction_value)
self.robot.set_right(self.speed + direction_value)
else:
self.robot.stop_motors()
self.running = False
direction_pid.reset()
last_time = time.time()