img = np.array (img_)
img = cv2.cvtColor (img, cv2.COLOR_BGR2RGB)
marker_coords = find_marker (img, (marker_color_min, marker_color_max))
cv2.imwrite ("img" + str (times) + ".jpg", img)
if (marker_coords [0] >= 0):
print ("marker detected")
walk = True
if (marker_coords [1] >= 440):
walk_back = True
if (marker_coords [0] < 280):
tts.Move (0, 0, 20)
elif (marker_coords [0] > 360):
tts.Move (0, 0, -20)
else:
print ("no marker")
walk = False
if (walk == True):
if (walk_back == False):
print ("walking straight")
X = 0.8
Y = 0.0
Theta = 0.0
from naoqi import ALProxy
#tts = ALProxy("ALTextToSpeech", "192.168.1.67", 9559)
tts = ALProxy("MovementGraph", "192.168.1.67", 9559)
#tts.say("Hello, world!")
tts.Move (x, y, theta)
