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
arm.InitCom()
add = arm.GetStreamAddress()
print(add)
arm.SendMessage(add)
arm.InitYolo(add, "C:\\Users\\mt2si\\Documents\\RoboticArm\\yolo")
while (1):
a = arm.GetYoloOutput()
print(a)
arm.DrawTargetsOnVideo(a)
arm.CloseCom()
