if phaseChk == 9: IM920.Send('P9S') Other.saveLog(phaseLog, '9', 'Goal Detection Phase Started', time.time() - t_start) t_GoalDetection_start = time.time() print('Goal Detection Phase Started {}'.format(time.time() - t_start)) try: # --- calculate the distance to the goal --- # direction = Calibration.calculate_direction(lon2,lat2) goal_distance = direction["distance"] print('goal_distance = ', goal_distance) # --- if the distance to the goal is within 5 meters --- # while goal_distance <= 5: goal_value[0] = 1 # --- until the goal decision --- # while goal_value[0] != 0: goal_value = goaldetection.GoalDetection("/home/pi/photo/photo",200 ,20, 80, 7000) print("goalflug", goal_value[0], "goalarea",goal_value[1], "goalGAP", goal_value[2], "name", goal_value[3]) Other.saveLog(goalDetectionLog, time.time() - t_start, goal_value, GPS.readGPS()) if goal_value[0] != -1: # --- if the pixcel error is -30 or less, rotate left --- # if goal_value[2] <= -30.0: print('Turn left') run = pwm_control.Run() run.turn_left_l() time.sleep(0.5) # --- if the pixcel error is 30 or more, rotate right --- # elif 30 <= goal_value[2]: print('Turn right') run = pwm_control.Run() run.turn_right_l() time.sleep(0.5)
IM920.Send('P8F') print('phaseChk = ' + str(phaseChk)) # --- Goal Detection Phase --- # if phaseChk == 9: IM920.Send('P9S') Other.saveLog(phaseLog, '9', 'Goal Detection Phase Started', time.time() - t_start) t_GoalDetection_start = time.time() print('Goal Detection Phase Started {}'.format(time.time() - t_start)) try: goalflug = 1 while goalflug != 0: goalflug, goalarea, goalGAP, photoname = goaldetection.GoalDetection( "/home/pi/photo/photo", 200, 20, 80, 50000) print("goalflug", goalflug, "goalarea", goalarea, "goalGAP", goalGAP, "name", photoname) if goalGAP <= -30.0: print('Turn right') run = pwm_control.Run() run.turn_right_l() time.sleep(1) run.stop() time.sleep(1) elif 30 <= goalGAP: print('Turn left') run = pwm_control.Run() run.turn_left_l() time.sleep(1)