def Stream():
while (1):
time.sleep(0.05)
a = arm.GetYoloOutput()
print(len(a))
if len(a) > 0:
arm.DrawTargetsOnVideo(a)
def LookForObject():
global ismove
global lastpos
while (ismove == 0):
a = arm.GetYoloOutput()
if len(a) > 0:
arm.DrawTargetsOnVideo(a)
arm.StopMovement()
lastpos = arm.GetArmPosition()
GetObject()
def GetObject():
global lastpos
base = float(lastpos[1])
compensation = float(lastpos[3])
pos = "w"
while (1):
a = arm.GetYoloOutput()
if len(a) > 0:
pos = a[0][3]
arm.DrawTargetsOnVideo(a)
lock = arm.TryLockAtObject(a[0], 3, 40, res)
if (lock == 1):
base = base - 3
compensation = compensation - 3
arm.SetPosition(-1, base, -1, compensation, -1, -1)
WaitForMove()
trigger = arm.GetTriggerStatus()
if (trigger == "1"):
break
GetAndThrowiT(pos)
import Arm as arm
import numpy as np
import cv2
import sys
arm.InitCom()
try:
res = arm.GetStreamResolution()
cap = cv2.VideoCapture(
"C:\\Users\\mt2si\\Desktop\\projekty\\S.O.C Robotic Arm\\Robotic Arm\\PyScript\\test.mp4"
)
while (1):
_, frame = cap.read()
BGR = np.uint8([[[51, 91, 222]]])
_, a = arm.BasicColorRecognition(frame, BGR, 20, 7000)
arm.DrawTargetsOnVideo(a)
if a != []:
while (1):
b = arm.TryLockAtObject(a[0][0], a[0][1], 5, 10, res)
if b == 1:
break
except: # catch *all* exceptions
e = sys.exc_info()[0]
arm.SendMessage(e)
arm.CloseCom()
conf = 0
last_center = [0, 0]
arm.MovingSpeed(10)
distance = 0
WaitForMove()
time.sleep(0.500)
id = ""
while (True):
time.sleep(0.1)
qr, targets, center = FindQr()
if (qr == 1):
id = targets[0][2]
arm.DrawTargetsOnVideo(targets)
if distance == 0:
distance = GetDistance(center[0], center[1])
arm.SendMessage("distance = " + str(distance))
arm.TryLockAtObject(center, 2, 25, res)
if (last_center[0] >= center[0] - 2 and last_center[0] <= center[0] + 2
and last_center[1] >= center[1] - 2
and last_center[1] <= center[1] + 2):
conf = conf + 1
else:
conf = 0
if (conf == 3):
act_pos = arm.GetArmPosition()
f_pos = BruteForcePos(distance)
