def main(argv):
red_side = True
try:
opts, args = getopt.getopt(argv,'', ['color='])
except getopt.GetoptError:
print "usage: 'main.py --color=<c>', where <c> is 'red' or 'green'"
for opt, arg in opts:
if opt == '--color':
if arg == 'green':
red_side = False
print 'looking for green balls'
elif arg == 'red':
print 'looking for red balls'
ardu = arduino.Arduino()
motor_left = arduino.Motor(ardu, 0, 8, 10) #current pin,. direction pin, pwm pin
motor_right = arduino.Motor(ardu, 0, 7, 9)
ardu.run() # start ardu comm thread
vis = Vision(red_side, True)
end_now = False
start_time = time.time()
try:
while not end_now:
if time.time() - start_time > 10:
end_now = True
motor_right.setSpeed(0)
motor_left.setSpeed(0)
time.sleep(0.1)
ardu.stop()
break
feats = vis.get_feat()
if len(feats) >0:
angle = int(feats[0].angle)
print angle
motor_right.setSpeed( -64 - angle*4 )
motor_left.setSpeed( -64 + angle*4 )
else:
print "No ball"
motor_right.setSpeed(-32)
motor_left.setSpeed(32)
cv2.waitKey(20)
except KeyboardInterrupt:
print "ending..."
time.sleep(0.1)
motor_right.setSpeed(0)
motor_left.setSpeed(0)
time.sleep(0.1)
ardu.stop()
end_now = True
from vision.vision import Vision
import cProfile
vis = Vision(False)
feats = vis.get_feat()
cProfile.run('vis.get_feat()')
