class GoPiAutonomous():
def __init__(self):
# self.gpi = GopiImage()
self.action_queue = multiprocessing.JoinableQueue()
self.results_queue = multiprocessing.Queue()
self.motion_child = PidController(self.action_queue, self.results_queue)
self.motion_child.start()
def start(self, color):
# seek
found = False
bad_tries = 0
while not found and bad_tries < 10:
# self.gpi.load_file('static/images/test3.png')
# degrees, spots = self.gpi.find_color(color)
result = requests.get(camera_host+'/cam/find/'+color).json()
degrees = result['degrees']
if degrees is not None:
if degrees == -15:
self.action_queue.put({'command': 'left_rot', 'duration': .05})
elif degrees == -10:
self.action_queue.put({'command': 'left_rot', 'duration': .05})
elif degrees == -5:
self.action_queue.put({'command': 'left_rot', 'duration': .05})
elif degrees == 0:
found = True
if degrees == 5:
self.action_queue.put({'command': 'right_rot', 'duration': .05})
elif degrees == 10:
self.action_queue.put({'command': 'right_rot', 'duration': .05})
elif degrees == 15:
self.action_queue.put({'command': 'right_rot', 'duration': .05})
bad_tries += 1
if found:
pass
# set speed 150
#pid fwd
self.action_queue.put({'command': 'fwd', 'speed': 100})
self.motion_child.join()
else:
pass
def __init__(self):
# self.gpi = GopiImage()
self.action_queue = multiprocessing.JoinableQueue()
self.results_queue = multiprocessing.Queue()
self.motion_child = PidController(self.action_queue, self.results_queue)
self.motion_child.start()
