# To check if the bot is running
if not driveBot.running:
# Obtaining the position of white pixels from the mask
points = cv2.findNonZero(mask)
pointsArr = np.array(points)
# To check if object is available
if pointsArr.size > 400:
avg = np.mean(pointsArr, axis=0)
if avg.size > 0:
x = avg[0][0]
y = avg[0][1]
# To close the kalman filter in on true value
if initCounter <= 30:
initCounter += 1
predictedCords = kalmanFilter.Estimate(x, y)
prevX = x
prevY = y
else:
if velCounter <= 10:
velCounter += 1
else:
delX = x - prevX
delY = y - prevY
prevX = x
prevY = y
# Using kalman filter to measure, correct and predict current position
predictedCords = kalmanFilter.Estimate(x, y)
# Adding points to the path
path.append([predictedCords[0], predictedCords[1]])
# Drawing elements and displaying
