def __init__(self, start, end, rate, step_size=50):
self.start = start
self.end = end
self.rate = rate
now = datetime.datetime.now()
self.log_direc = "/media/data/Data/Logs/{}_{}_{}_{}_{}/".format(
now.year, now.month, now.day, now.hour, now.minute)
try:
os.mkdir(self.log_direc)
except FileExistsError as e:
print(e)
self.i = 0
self.shaker = shaker.Shaker()
self.shaker.change_duty(self.start)
self.step_size = step_size
cam_num = camera.guess_camera_number()
port = STEPPER_CONTROL
self.ard = arduino.Arduino(port)
self.motors = stepper.Stepper(self.ard)
self.motors.move_motor(1, 100, '+')
self.motors.move_motor(2, 100, '+')
self.motors.move_motor(1, 100, '-')
self.motors.move_motor(2, 100, '-')
self.cam = camera.Camera(cam_num=cam_num)
im = self.cam.get_frame()
self.hex, self.center, self.crop, self.mask = self.find_hexagon(im)
im = images.crop_and_mask(im, self.crop, self.mask)
self.im_shape = im.shape
im = images.draw_polygon(im, self.hex)
im = images.draw_circle(im, self.center[0], self.center[1], 3)
images.display(im)
def __init__(self):
self.shaker = shaker.Shaker()
self.shaker.change_duty(600)
port = STEPPER_CONTROL
self.ard = arduino.Arduino(port)
self.motors = stepper.Stepper(self.ard)
cam_num = camera.guess_camera_number()
self.cam = camera.Camera(cam_num=cam_num)
im = self.cam.get_frame()
self.hex, self.center, self.crop, self.mask = self.find_hexagon(im)
im = images.crop_and_mask(im, self.crop, self.mask)
self.im_shape = im.shape
im = images.draw_polygon(im, self.hex)
im = images.draw_circle(im, self.center[0], self.center[1], 3)
images.display(im)
from labequipment import shaker, arduino, stepper
from labvision import camera, images
import numpy as np
import matplotlib.pyplot as plt
import time
data_dir = "/media/data/Data/Orderphobic/TwoIntruders/LevelSampling"
ard = arduino.Arduino(
"/dev/serial/by-id/usb-Arduino__www.arduino.cc__0043_5573532393535190E022-if00"
)
my_stepper = stepper.Stepper(ard)
my_shaker = shaker.Shaker()
my_shaker.change_duty(600)
cam = camera.Camera(camera.guess_camera_number())
frame = cam.get_frame()
crop_result = images.crop_polygon(frame)
frame = images.crop_and_mask(frame, crop_result.bbox, crop_result.mask)
bins = np.linspace(0, frame.shape[1], 100)
np.savetxt(f"{data_dir}/bins.txt", bins)
def run():
pos1 = -360
pos2 = -360
my_stepper.move_motor(1, 360 * 15, '-')
time.sleep(90)
my_stepper.move_motor(2, 360 * 15, '-')