def turn(direction):
if direction == 'Left':
dr.left()
print('Turning left')
if direction == 'Right':
dr.right()
print('Turning right')
def turn_motion(direction):
if direction=="Left":
dr.left()
elif direction=="Right":
dr.right()
else:
pass
def checkColor(image):
count=0
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, (36, 25, 25), (70, 255,255))
res = cv2.bitwise_and(image,image, mask=mask)
ret,thrshed = cv2.threshold(cv2.cvtColor(res,cv2.COLOR_BGR2GRAY),3,255,cv2.THRESH_BINARY)
_,contours,hier = cv2.findContours(thrshed,cv2.RETR_LIST,cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
area = cv2.contourArea(cnt)
if area >10000:
print('object found')
gray=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
corners()
cv2.putText(image, 'Green Object Detected', (10,80), cv2.FONT_HERSHEY_SIMPLEX, 1.0,(255, 255, 255),lineType=cv2.LINE_AA)
cv2.rectangle(image,(5,40),(400,100),(0,255,255),2)
count+=1
print('count', count)
if count==10:
gray=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
a=corners(gray)
j=0
while j<20:
dr.goCustom(90,90)
j+=1
n=0
while n<1:
dr.stop(2)
if a =='Left':
dr.left()
else:
dr.right()
n=n+1
def turn(direction):
if direction == 'Left':
stop(3)
dr.goStraight()
time.sleep(2)
dr.stop(1)
dr.left()
#print('Turning left')
if direction == 'Right':
stop(3)
dr.goStraight()
time.sleep(2)
dr.stop(1)
dr.right()
def tick(self):
pacmanLoc = self.coordinates
pacman = self.game.getPacman()
if (pacman):
pacmanLoc = pacman.coordinates
if (self.panicked() is True):
self.direction = avoid(self.coordinates, pacmanLoc)
self.panicLevel -= 1
front = self.direction
directions = [front, left(front), right(front)]
choices = []
for option in directions:
if self.clear(self.nextMove(option)):
choices.append(option)
if len(choices) > 0:
self.direction = choices[randint(0, len(choices)-1)]
elif self.panicked() is False:
self.direction = opposite(front)
nextLocation = self.nextMove(self.direction)
if ((self.panicLevel % 2) == 0) and self.clear(nextLocation):
self.coordinates = (nextLocation)
if (self.game.isPacman(self.coordinates)):
if (self.panicked() is True):
self.game.killGhost(self)
else:
self.game.killPacman()
if (self.game.isGate(self.coordinates)):
self.passedGate = True
self.icon = Ghost.iconByState[self.panicLevel > 0]
def handleKey(self, event):
if event.key == pygame.K_LEFT:
self.decision = direction.left()
elif event.key == pygame.K_RIGHT:
self.decision = direction.right()
elif event.key == pygame.K_DOWN:
self.decision = direction.down()
elif event.key == pygame.K_UP:
self.decision = direction.up()
import RoboPiLib as RPL
import setup
import direction
print('Type "stop" to stop the motors and then type "exit" to close the program')
while True:
usrin = input(' ')
if usrin == 'w':
direction.front()
elif usrin == 's':
direction.back()
elif usrin == 'a':
direction.left()
elif usrin == 'd':
direction.right()
elif usrin == 'stop':
direction.stop
else:
print('please input a w,a,s,d,stop,exit')
import RoboPiLib as RPL
import setup
import direction
apin = PIN #right side
while True:
analog = RPL.analogRead(apin)
if analog >= 300 and analog <= 400:
direction.front(10)
elif analog > 400:
direction.left(7)
elif analog < 300:
direction.right(7)