def keep_front_cycle(self):
self.__timestemp.set_k(0.5)
while True:
flag, x, y, w_h = Data().get_filter("red").quadrangle(
Data().get_img_front())
if flag:
while self.__timestemp.add_item(length(x, y)):
flag, x, y, w_h = Data().get_filter("red").quadrangle(
Data().get_img_front())
self.keep_x_y(x, y, 2, 3)
#self.move_to_time(1, 40)
sleep(0.05)
break
else:
pass
def search_cycle(self, img):
info = ["red", "green", "blue"]
for i in info:
flag, x, y, area = Data().get_filter(i).cycle(img)
if flag:
return True, i, area
return False, "None", 0
def search_color(self):
st = detect()
info = ["red", "green", "yellow", "white", "black"]
tm = int(round(time() * 1000))
center = []
while tm - int(round(time() * 1000)) > 10 * -1000:
frame = Data().get_img_front()
if st == "right":
frame = Data().get_filter("red").right(frame)
else:
frame = Data().get_filter("red").left(frame)
for i in range(len(info)):
flag, x, y, area = Data().get_filter(info[i]).quadrangle(frame)
if flag:
del info[i]
center.append((x, y, area))
break
if len(center) == 2:
break
print(info)
return center
def keep_bottom_line(self):
while True:
flag, x, y, angle = Data().get_filter("yellow").square(
Data().get_img_bottom())
if flag:
self.__timestemp.set_k(2)
while self.__timestemp.add_item(length(x, y)):
flag, x, y, angle = Data().get_filter("yellow").square(
Data().get_img_bottom())
self.keep_x_y(x, y, 0, 1)
self.keep_depth(Data().get_depth())
sleep(0.05)
Data().set_yaw(angle)
print(Data().get_yaw())
break
else:
self.keep_depth(Data().get_depth())
self.keep_yaw(Data().get_yaw(), 30)
sleep(0.05)
def yaw_to_time(self, time_yaw, yaw=None):
tm = int(round(time() * 1000))
yaw = Data().get_yaw() if yaw is None else yaw
while tm - int(round(time() * 1000)) > time_yaw * -1000:
self.keep_yaw(yaw, 0)
sleep(0.05)
def depth_to_time(self, time_depth, h=None):
tm = int(round(time() * 1000))
h = Data().get_depth() if h is None else h
while tm - int(round(time() * 1000)) > time_depth * -1000:
self.keep_depth(h)
sleep(0.05)
def move_to_time(self, time_move, speed):
tm = int(round(time() * 1000))
while tm - int(round(time() * 1000)) > time_move * -1000:
self.keep_yaw(Data().get_yaw(), speed)
sleep(0.05)
from Class.Motor import Motor
from Class.Math import PD
import pymurapi as mur
from Class.Data import Data
from Class.Classificate import ColorClassif
from time import sleep
avi = mur.mur_init()
motor = Motor({"depth": PD(30, 5), "yaw": PD(0.5, 0.8), "x_y": PD(0.1, 0.6)})
Data().set_filters("red", ColorClassif((0, 139, 0), (16, 255, 255)))
Data().set_filters("green", ColorClassif((62, 229, 93), (98, 255, 255)))
Data().set_filters("blue", ColorClassif((30, 185, 211), (255, 255, 255)))
Data().set_filters("yellow", ColorClassif((19, 193, 95), (33, 255, 255)))
Data().set_filters("white", ColorClassif((0, 0, 0), (255, 4, 255)))
Data().set_filters("black", ColorClassif((0, 0, 0), (123, 255, 36)))
motor.depth_to_time(14, 2.3)
motor.keep_front_cycle()