def systemInit():
#glo.MODE_SELECT select the workmodel
#1: TrackTest 2: BallTest 3: TogetherRun
if glo.MODE_SELECT == 1:
glo.TheKobuki = Kobuki(glo.KOBUKI_COM)
#glo.TheDobot = Dobot(glo.DOBOT_COM)
glo.TheDirection = glo.PID(P=glo.TRACK_P, D=glo.TRACK_D)
glo.TheThreadLock = threading.Lock()
glo.TheTrackThread = TrackThread(1, "Track", 1)
glo.TheTrackThread.start()
elif glo.MODE_SELECT == 2:
glo.TheKobuki = Kobuki(glo.KOBUKI_COM)
glo.TheThreadLock = threading.Lock()
glo.TheBallThread = BallThread(2, "Ball", 2)
glo.TheBallThread.start()
else:
time.sleep(3)
glo.TheKobuki = Kobuki(glo.KOBUKI_COM)
glo.TheDobot = Dobot(glo.DOBOT_COM)
glo.TheDirection = glo.PID(P=glo.TRACK_P, D=glo.TRACK_D)
glo.TheThreadLock = threading.Lock()
glo.TheTrackThread = TrackThread(1, "Track", 1)
glo.TheTrackThread.start()
glo.TheBallThread = BallThread(2, "Ball", 2)
glo.TheBallThread.start()
time.sleep(0.5)
def systemInit():
glo.TheKobuki = Kobuki(glo.KOBUKI_COM)
#glo.TheDobot = Dobot(glo.DOBOT_COM)
glo.TheDirection = glo.PID(P=glo.TRACK_P, D=glo.TRACK_D)
glo.TheThreadLock = threading.Lock()
glo.TheTrackThread = TrackThread(1, "Track", 1)
glo.TheTrackThread.start()
def systemInit():
#glo.MODE_SELECT select the workmodel
#1: TrackTest 2: BallTest 3: TogetherRun
if glo.MODE_SELECT == 1:
glo.TheKobuki = Kobuki(glo.KOBUKI_COM)
#glo.TheDobot = Dobot(glo.DOBOT_COM)
glo.TheDirection = glo.PID(P=glo.TRACK_P, D=glo.TRACK_D)
glo.TheThreadLock = threading.Lock()
glo.TheTrackThread = TrackThread(1, "Track", 1)
glo.TheTrackThread.start()
glo.TheStrategyThread = StrategyThread(3, "Strategy", 3)
glo.TheStrategyThread.start()
elif glo.MODE_SELECT == 2:
pass
else:
pass
def exitThread(self):
self.ballCam.release()
def processBallImg(img,ball,para):
ball.updateImg(img)
ball.hsvFilter(tuple(para[0:3]),tuple(para[3:6]))
ball.converToBinary(para[6])
ball.getCenter(contoursRange=tuple(para[7:9]), ksize=(para[9],para[9]))
glo.TheThreadLock.acquire()
glo.TheDistance,glo.TheHighFlag=ball.calculate(PickPosition=glo.PICK_POSITION,Height=glo.HEIGHT)
glo.TheThreadLock.release()
if glo.DEBUG_FLAG is True:
ball.draw(calFlag=True)
if __name__ == "__main__":
#systemInit()
glo.TheKobuki = Kobuki(glo.KOBUKI_COM)
glo.TheThreadLock = threading.Lock()
glo.TheBallThread=BallThread(2,"Ball",2)
glo.TheBallThread.start()
count = 0
while True:
if glo.TheDistance is not None and glo.TheHighFlag is not None :
if glo.TheDistance < glo.PICK_RANGE :
glo.PICK_FLAG = True
Control()
#time.sleep(0.001)
count += 1
if count > 100000:
#count = 0
break
glo.MAIN_STOP_FLAG = False