#This is the code used for the robot to move based on the color it sees using the Pi Camera
#import needed libraries
from gpiozero import CamJamKitRobot #Change this to Robot if you do not have the Cam Jam Edukit 3 robotics kit
from contours import setup_camera, get_saturated_colors #import from the contours program
#Setup the camjamkit robot. The pins are already defined by the board
#The following instructions are for those who do not use the Cam Jam Edukit 3 robotics kit
#Let's say you use the pins 27 and 17 for left and 24 and 23 for right. Then alter it as such:
#robot = Robot(left=(27, 17), right=(24,23))
devastator_robot = CamJamKitRobot()
camera, capture_buffer = setup_camera()
#When the robot sees yellow, the robot turns left, when the robot sees blue it turns right. Otherwise it goes forward
for raw in camera.capture_continuous(capture_buffer, format="bgr"):
image = raw.array
masked, contours, found_color = get_saturated_colors(image)
print(f"Color {found_color}, h value: {found_color[0]}")
if 5 < found_color[0] < 40: #It looks at the first element of the found_color variable.
print("yellow")
devastator_robot.left()
elif 100 < found_color[0] < 135:
print("blue")
devastator_robot.right()
else:
devastator_robot.forward()
capture_buffer.truncate(0)
# CamJam EduKit 3 - Robotics # Worksheet 4 - Driving and Turning import time # Import the Time library from gpiozero import CamJamKitRobot # Import the GPIO Zero Library CamJam library robot = CamJamKitRobot() robot.forward() time.sleep(1) # Pause for 1 second robot.backward() time.sleep(1) robot.left() time.sleep(0.5) # Pause for half a second robot.right() time.sleep(0.5) robot.stop()
from gpiozero import CamJamKitRobot
robot = CamJamKitRobot()
running = True
while running:
inp = network_controller.get_input()
if inp == 'w':
robot.forward()
if inp == 'a':
robot.left(speed=0.5)
if inp == 'd':
robot.right(speed=0.5)
if inp == 's':
speed_left, speed_right = robot.value
if speed_left == 0 and speed_right == 0:
robot.backward()
else:
robot.stop()
# Input is '' if connection stops
if inp == 'c' or inp == '':
robot.stop()
print("Turning off robot")
running = False
speed_left, speed_right = robot.value
print 'Motor speed: Left:{} , Right:{}'.format(speed_left, speed_right)