import numpy as np
import sys, select
import cv2
import time
import os
import RPi.GPIO as GPIO
from minisumo_motorcontrol2 import Motors_Class
from lineSense2 import lineSensor_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol3 import Motors_Class2
#anything less than 15 switch to short range sensors
motor1 = Motors_Class()
lineSensors = lineSensor_Class()
shortrange = shortrange_Class()
motor2 = Motors_Class2()
cap = cv2.VideoCapture(0)
SPICLK = 18
SPIMISO = 23
SPIMOSI = 24
SPICS = 25
class longrange_Class:
def __init__(self):
GPIO.setmode(GPIO.BCM)
global SPICLK
global SPIMISO
global SPIMOSI
global SPICS
import numpy as np from lineSense2 import lineSensor_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 import sys, select import cv2 lineSensors = lineSensor_Class() motors= Motors_Class() motors2= Motors_Class2() cap = cv2.VideoCapture(0) # take first frame of the video ret,frame = cap.read() # setup initial location of window r,h,c,w = 250,150,400,150 # simply hardcoded the values track_window = (c,r,w,h) # set up the ROI for tracking roi = frame[r:r+h, c:c+w] hsv_roi = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv_roi, np.array((0., 60.,32.)), np.array((180.,255.,255.))) roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180]) cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX) # Setup the termination criteria, either 10 iteration or move by atleast 1 pt term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 ) direct='w' lastdist=0
import time
from lineSense2 import lineSensor_Class
from minisumo_motorcontrol2 import Motors_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
lineSensors= lineSensor_Class()
motors= Motors_Class()
longrange= longrange_Class()
shortrange= shortrange_Class()
motors.motor_move("w",4)
while(True):
if(1==lineSensors.check1()):
motors.motor_move("x",0)
time.sleep(1)
motors.motor_move("s",4)
elif(1==lineSensors.check2()):
motors.motor_move('x',0)
time.sleep(1)
motors.motor_move('s',4)
elif(1==lineSensors.check3()):
motors.motor_move('x',0)
time.sleep(1)
motors.motor_move('s',4)
elif(1==lineSensors.check4()):
motors.motor_move('x',0)
time.sleep(1)
motors.motor_move('s',4)
elif(shortrange.rngsens()>3):
motors.motor_move('x',0)
from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from accelerometer import Accel lineSensors = lineSensor_Class() motors = Motors_Class() longrange = longrange_Class() shortrange = shortrange_Class() short = shortrange.rngsens longone = longrange.rangesens # l1 = lineSensors.check1() # l2 = lineSensors.check2() # l3 = lineSensors.check3() l4 = lineSensors.check4() results = Accel.mag_accel() # test variables # l1 = 0 # l2 = 1 # l3 = 1 # l4 = 1 # short = 12 # long = 60 # ax = -4 axtotal = results[0] aytotal = results[1]
import time
from lineSense2 import lineSensor_Class
from minisumo_motorcontrol2 import Motors_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
lineSensors = lineSensor_Class()
motors = Motors_Class()
longrange = longrange_Class()
shortrange = shortrange_Class()
motors.motor_move("w", 4)
while (True):
if (1 == lineSensors.check1()):
motors.motor_move("x", 0)
time.sleep(1)
motors.motor_move("s", 4)
elif (1 == lineSensors.check2()):
motors.motor_move('x', 0)
time.sleep(1)
motors.motor_move('s', 4)
elif (1 == lineSensors.check3()):
motors.motor_move('x', 0)
time.sleep(1)
motors.motor_move('s', 4)
elif (1 == lineSensors.check4()):
motors.motor_move('x', 0)
time.sleep(1)
motors.motor_move('s', 4)
elif (shortrange.rngsens() > 3):
motors.motor_move('x', 0)
from lineSense2 import lineSensor_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
from accelerometer import Accel
import time
lineSensors= lineSensor_Class()
Accel1 = Accel()
motor1= Motors_Class()
motor2 = Motors_Class2()
longrange= longrange_Class()
shortrange= shortrange_Class()
try:
while True:
motor1.motor_move('a', 3)
motor2.motor_move('a', 3)
shortrange.rngsens()
lineSensors.check1()
lineSensors.check2()
lineSensors.check3()
lineSensors.check4()
longrange.rangesens()
except KeyboardInterrupt:
GPIO.cleanup()
import time
#load files
from lineSense2 import lineSensor_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
from accelerometer import Accel
#Create objects and variables
lineSensors= lineSensor_Class()
motors= Motors_Class()
motors2 = Motors_Class2()
longrange= longrange_Class()
shortrange= shortrange_Class()
mouse_data = mouse_pos(stat,x,y)
first = 'y'
origin = 'y'
##can move this function into the lineSensors class
def checkLines():
if lineSensors.check1() == 1:
motors.motor_move('a', 4)
motors.motor_move('a', 4)
detect = 1
elif lineSensors.check2() == 1:
moving('x')
motors2.motor_move('x', 0)
motors.motor_move('a', 4)
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
motors=Motors_Class()
motors2=Motors_Class2()
while(1):
direct = raw_input()
motors.motor_move(direct,6)
motors2.motor_move(direct,6)
from lineSense2 import lineSensor_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
from accelerometer import Accel
import time
lineSensors = lineSensor_Class()
Accel1 = Accel()
motor1 = Motors_Class()
motor2 = Motors_Class2()
longrange = longrange_Class()
shortrange = shortrange_Class()
try:
while True:
motor1.motor_move('a', 3)
motor2.motor_move('a', 3)
shortrange.rngsens()
lineSensors.check1()
lineSensors.check2()
lineSensors.check3()
lineSensors.check4()
longrange.rangesens()
except KeyboardInterrupt:
GPIO.cleanup()
from lineSense2 import lineSensor_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
from accelerometer import Accel
import time
import RPi.GPIO as GPIO
lineSensors = lineSensor_Class()
Accel1 = Accel()
motor1 = Motors_Class()
motor2 = Motors_Class2()
longrange = longrange_Class()
shortrange = shortrange_Class()
#create file
def moving(dir):
if dir == 'x':
motor1.motor_move('x', 0)
motor2.motor_move('x', 0)
if dir == 'a':
motor1.motor_move('a', 5)
motor2.motor_move('a', 5)
if dir == 's':
motor1.motor_move('s', 8)
motor2.motor_move('s', 8)
if dir == 'd':
motor1.motor_move('d', 5)
motor2.motor_move('d', 5)
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
motors = Motors_Class()
motors2 = Motors_Class2()
while (1):
direct = raw_input()
motors.motor_move(direct, 6)
motors2.motor_move(direct, 6)
from lineSense2 import lineSensor_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol2 import Motors_Class
from minisumo_motorcontrol3 import Motors_Class2
from accelerometer import Accel
import time
import RPi.GPIO as GPIO
lineSensors= lineSensor_Class()
Accel1 = Accel()
motor1= Motors_Class()
motor2 = Motors_Class2()
longrange= longrange_Class()
shortrange= shortrange_Class()
#create file
def moving(dir):
if dir == 'x':
motor1.motor_move('x', 0)
motor2.motor_move('x', 0)
if dir == 'a':
motor1.motor_move('a', 5)
motor2.motor_move('a',5)
if dir == 's':
motor1.motor_move('s',8)
motor2.motor_move('s',8)
if dir == 'd':
motor1.motor_move('d', 5)
motor2.motor_move('d', 5)
if dir == 'w':
