def run(self):
while 1:
self.__flag.wait()
if self.CVMode == 'none':
move.commandInput('stand')
move.commandInput('no')
continue
elif self.CVMode == 'findColor':
self.CVThreading = 1
self.findColor(self.imgCV)
self.CVThreading = 0
elif self.CVMode == 'findlineCV':
self.CVThreading = 1
self.findlineCV(self.imgCV)
self.CVThreading = 0
elif self.CVMode == 'watchDog':
self.CVThreading = 1
self.watchDog(self.imgCV)
self.CVThreading = 0
pass
def findLineCtrl(self, posInput, setCenter):#2
if posInput and setCenter:
if posInput > (setCenter + findLineError):
#turnRight
move.commandInput('right')
print('right')
pass
elif posInput < (setCenter - findLineError):
#turnLeft
move.commandInput('left')
print('left')
pass
else:
move.commandInput('forward')
time.sleep(1)
pass
def functionSelect(command_input, response):
global direction_command, turn_command, SmoothMode, steadyMode, functionMode
if 'scan' == command_input:
pass
elif 'findColor' == command_input:
flask_app.modeselect('findColor')
elif 'motionGet' == command_input:
flask_app.modeselect('watchDog')
elif 'stopCV' == command_input:
flask_app.modeselect('none')
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
elif 'KD' == command_input:
move.commandInput(command_input)
elif 'automaticOff' == command_input:
move.commandInput(command_input)
elif 'automatic' == command_input:
move.commandInput(command_input)
elif 'trackLine' == command_input:
flask_app.modeselect('findlineCV')
elif 'trackLineOff' == command_input:
flask_app.modeselect('none')
elif 'police' == command_input:
RL.police()
elif 'policeOff' == command_input:
RL.pause()
def robotCtrl(command_input, response):
global direction_command, turn_command
if 'forward' == command_input:
direction_command = 'forward'
move.commandInput(direction_command)
elif 'backward' == command_input:
direction_command = 'backward'
move.commandInput(direction_command)
elif 'DS' in command_input:
direction_command = 'stand'
move.commandInput(direction_command)
elif 'left' == command_input:
turn_command = 'left'
move.commandInput(turn_command)
elif 'right' == command_input:
turn_command = 'right'
move.commandInput(turn_command)
elif 'TS' in command_input:
turn_command = 'no'
move.commandInput(turn_command)
elif 'lookleft' == command_input:
P_sc.singleServo(12, 1, 7)
elif 'lookright' == command_input:
P_sc.singleServo(12, -1, 7)
elif 'LRstop' in command_input:
P_sc.stopWiggle()
elif 'up' == command_input:
T_sc.singleServo(13, 1, 7)
elif 'down' == command_input:
T_sc.singleServo(13, -1, 7)
elif 'UDstop' in command_input:
T_sc.stopWiggle()