epoch = time.time()
# Parker robots have a simple routine
if identity in PARKER_ROBOTS:
drivers.move(drivers.RobotState(drivers.DRIVE, in_to_cm(ROBOT_AXIAL + 2)))
sleep(3)
drivers.move(drivers.RobotState(drivers.DRIVE, -in_to_cm(ROBOT_AXIAL + 3)))
done = True
# Collector robots will wait a bit for parkers to park
elif identity in COLLECTOR_ROBOTS:
sleep(8)
goal_direction = math.atan2(goal[1] - pose[1], goal[0] - pose[0])
while not done:
# Run vision on current FOV, set indicators
src = camera.capture()
drivers.LED3.on()
objects, mask, cvxhull = mod.process(src)
drivers.LED3.off()
# Timekeeping
time = (time.time() - start)
iterations += 1
"""
src = cv2.cvtColor(src, cv2.COLOR_BGR2RGB)
draw(src, objects)
if cvxhull is not None:
cv2.drawContours(
src, [cvxhull], -1, (255, 255, 255), 3, cv2.LINE_8)
