def main():
print("Pixy Python " + VERSION)
# Create directory to save images
if not os.path.exists(IMAGES_DIR):
os.mkdir(IMAGES_DIR)
# Create a directory for this session
image_dir = IMAGES_DIR + "/" + str(
datetime.now().strftime("%Y%m%d_%H%M%S"))
os.mkdir(image_dir)
print("Saving images to " + image_dir)
print("Press Q to quit.")
pixy.pixy_init() # Initialize Pixy interface
pixy.pixy_command("stop") # Stop default program
# Allocate memory to store image from camera
data = pixy.byteArray(SUB_WIDTH * SUB_HEIGHT)
# Allocate numpy matrix to display
frame = np.zeros((FRAME_HEIGHT, FRAME_WIDTH, 1), dtype=np.uint8)
frame_cnt = 0
while True:
get_subframe(data, frame, 0, 0)
get_subframe(data, frame, 320, 0)
get_subframe(data, frame, 0, 200)
get_subframe(data, frame, 320, 200)
# Show image
cv2.imshow('pixy', frame)
# Save image to file. Use bitmap format because it's lossless and easy to read back/analyze.
if frame_cnt < MAX_SAVED_IMAGES_COUNT:
cv2.imwrite(image_dir + '/{:06d}.bmp'.format(frame_cnt), frame)
frame_cnt = frame_cnt + 1
# Check user request to exit
if cv2.waitKey(1) == ord('q'):
break
# Sleep 20ms. Camera can only sample at 50fps max.
time.sleep(.02)
cv2.destroyAllWindows()
pixy.pixy_close()
def main(ecv):
pixy.pixy_init()
pixy.pixy_command("stop")
# Get current exposure values
print("Current exposure setting:")
print_exposure()
# Set exposure value
gain = ecv & 0xFF
comp = (ecv >> 8) & 0xFFFF
pixy.pixy_cam_set_exposure_compensation(gain, comp)
# Confirm exposure value
print("")
print("Exposure set to:")
print_exposure()
# Close connection
pixy.pixy_close()
LDrive = -MAX_MOTOR_SPEED
else:
LDrive = 0
if RDrive > deadband:
if RDrive > MAX_MOTOR_SPEED:
RDrive = MAX_MOTOR_SPEED
elif RDrive < -deadband:
if RDrive < -MAX_MOTOR_SPEED:
RDrive = -MAX_MOTOR_SPEED
else:
RDrive = 0
# Actually Set the motors
motors.setSpeeds(int(LDrive), int(RDrive))
if __name__ == '__main__':
setup()
while True:
print 'we run loop'
ok = loop()
if not ok:
print 'not work'
break
pixy.pixy_close()
motors.setSpeeds(0, 0)
print "Robot Shutdown Completed"
