def transmit(bb):
x, y = findCenter(bb)
print x,y
if x < 130:
beaker.moveLeftWheel(1600)
beaker.moveRightWheel(1400)
elif x > 170:
beaker.moveRightWheel(1600)
beaker.moveLeftWheel(1400)
elif bb[2] < 10:
beaker.moveWheels(1700)
elif bb[2] > 200:
beaker.moveWheels(1300)
else:
beaker.stopWheels()
beaker.moveRightWheel(1400)
elif x > 170:
beaker.moveRightWheel(1600)
beaker.moveLeftWheel(1400)
elif bb[2] < 10:
beaker.moveWheels(1700)
elif bb[2] > 200:
beaker.moveWheels(1300)
else:
beaker.stopWheels()
def findCenter(bb):
return bb[0]+bb[2]/2, bb[1]+bb[3]/2
# Loop forever
while True:
try:
image = cam.getImage().flipHorizontal().scale(0.5)# get image, flip it so it looks mirrored, scale to speed things up
faces = image.findHaarFeatures(haarcascade) # load in trained face file
if faces:
bb = faces[-1].boundingBox()
image = image.pixelize(10,region=(bb[0],bb[1],bb[2],bb[3]))
print bb
transmit(bb)
win = image.show() #display the image
except:
win.quit()
beaker.stopWheels()
beaker.disconnect()
break
