leftSpeed -= 0.5 * MAX_SPEED
rightSpeed += 0.5 * MAX_SPEED
print("front_obstacle")
elif left_obstacle:
leftSpeed -= 0.5 * MAX_SPEED
rightSpeed += 0.5 * MAX_SPEED
print("left_obstacle")
elif right_obstacle:
leftSpeed += 0.5 * MAX_SPEED
rightSpeed -= 0.5 * MAX_SPEED
print("right_obstacle")
# set up the motor speeds at x% of the MAX_SPEED.
leftMotorFront.setVelocity(leftSpeed)
rightMotorFront.setVelocity(rightSpeed)
leftMotorBack.setVelocity(leftSpeed)
rightMotorBack.setVelocity(rightSpeed)
Camera.getImage(kinectColor)
Camera.saveImage(kinectColor, 'color.png', 1)
RangeFinder.getRangeImage(kinectDepth)
RangeFinder.saveImage(kinectDepth, 'depth.png', 1)
frameColor = cv.imread('color.png')
frameDepth = cv.imread('depth.png')
cv.imshow("Color", frameColor)
cv.imshow("Depth", frameDepth)
cv.waitKey(10)
#print("sag bir engel var")
# motoların hızını belirler
# - koyarsak araç geri geri gelir
solMotor.setVelocity(sol_hiz)
sağMotor.setVelocity(sag_hiz)
# araç üzerinden resimi getirirz
Camera.getImage(kinectColor)
#araç üzerinden resimi kayıt ederiz
Camera.saveImage(kinectColor, "color.png", 1)
#araç üzerinden
RangeFinder.getRangeImage(kinectRange)
RangeFinder.saveImage(kinectRange, "range.png", 1)
#resimi okuruz
frameColor = cv2.imread("color.png")
#resim kopyalanır
cikti = frameColor.copy()
#resimin renigini belirleriz
gray = cv2.cvtColor(frameColor, cv2.COLOR_BGR2GRAY)
#resim de blur blur getirmeisini sağlarız
gray_blur = cv2.blur(gray, (3, 3))
#tüm daireleri yakalamaya çalışırız
daireler = cv2.HoughCircles(gray_blur,
cv2.HOUGH_GRADIENT,
1,