# Dictionary holding Modbus addresses
addresses = {
'Ball X': 12288,
'Ball Y': 12290,
'Joystick X': 12292,
'Joystick Y': 12294
}
# Main loop
if __name__ == '__main__':
cap = cv2.VideoCapture(1)
cap.set(propId=3, value=640)
cap.set(propId=4, value=480)
# Creating objects
client = ModbusClient()
js = Joystick()
ballTracking = BallTracking(capture=cap, watch=True, color='dark-green')
# Sends data over Modbus client for as long the connection is established
while client.isConnected():
ball_coordinates = ballTracking.getCoordinates()
js_coordinates = js.getEvents()
client.sendInt(value=ball_coordinates[0], address=addresses['Ball X'])
client.sendInt(value=ball_coordinates[1], address=addresses['Ball Y'])
client.sendInt(value=js_coordinates[0],
address=addresses['Joystick X'])
client.sendInt(value=js_coordinates[1],
address=addresses['Joystick Y'])
# Break loop with ESC-key
'listen': 201,
'sendingchoice': 32218
}
numbers = ['1', '2', '3', '4', '5', '6', '7', '8', '9']
#numbers = [0]
drawboard = ['2', '5', '6', '10', '11']
# Main loop
if __name__ == '__main__':
# Creating objects
cap = cv2.VideoCapture(1)
game = GameChecker(capture=cap, watch=False)
while 1:
PLS = ModbusClient(ip='158.38.140.63')
while PLS.isConnected():
try:
# Listens for when we want to start the program
start = PLS.readInt(address=207, size=1)
start = PLS.readInt(address=207, size=1)
print(str(start))
while str(start) == "[1]":
# Give system time to respond
time.sleep(0)
clean = game.cleanBoard()
# If the board is not clean, send request to wash
floor = box(pos=vector(0, -8.75, 0), size=vector(100, 1, 100), color=color.white)
leg_1 = cylinder(pos=vector(20, -Z0 - 0.4, 20), axis=vector(0, 8.75, 0), radius=1, color=color.green)
leg_2 = cylinder(pos=vector(-20, -Z0 - 0.4, 20), axis=vector(0, 8.75, 0), radius=1, color=color.green)
leg_3 = cylinder(pos=vector(0, -Z0 - 0.4, -20), axis=vector(0, 8.75, 0), radius=1, color=color.green)
x_graph = graph(title="Ballmovement in X direction", xtitle='Time[s]', ytitle='X[%]',
fast=False, width=800, ymin=0, ymax=100, x=0, y=0)
x_position = gcurve(color=color.blue)
set_x_position = gcurve(color=color.red)
y_graph = graph(title="Ballmovement in Y direction", xtitle='Time[s]', ytitle='Y[%]',
fast=False, width=800, ymin=0, ymax=100, x=300, y=300)
y_position = gcurve(color=color.blue)
set_y_position = gcurve(color=color.red)
platform.pos = vector(0, 0, 0)
# Create modbus client
client = ModbusClient()
# Running visualization
while client.isConnected():
# Refresh rate
rate(10)
t += 0.1
# Read modbus addresses for data
response = client.readInt(address=12288, size=20)
x_pos = response[addresses['Ball X']]
y_pos = response[addresses['Ball Y']]
set_x_pos = response[addresses['Setpoint X']]
set_y_pos = response[addresses['Setpoint Y']]
roll = client.readFloat(address=addresses['Pitch'], size=2)
pitch = client.readFloat(address=addresses['Roll'], size=2)
'8': 32208,
'9': 32209,
'alex': 32217,
'listen': 201,
'sendingchoice': 32218,
'alf0': 0,
'alf1': 1,
'alf2': 2
}
state = [1, 2, 1, 2, 1, 2, 1, 2, 1]
if __name__ == '__main__':
while 1:
# SPAM ALEXANDER
alex = ModbusClient(ip='158.38.140.63')
while alex.isConnected():
try:
test = input("type\n")
if str(test) == "1":
print("We in boiss")
# notify that we send shit
alex.sendInt(address=addresses['alex'], value=1)
loop = 1
for i in range(loop):
print("looped " + str(i) + " times...")
alex.sendInt(address=addresses['alex'], value=1)
read0 = alex.readInt(address=addresses['alf0'], size=1)
read1 = alex.readInt(address=addresses['alf1'], size=1)
read2 = alex.readInt(address=addresses['alf2'], size=1)
Website: https://github.com/magnusoy/Balancing-Platform
"""
# Importing packages
import cv2
from video_processing import ObjectDetection
from modbus_communication import ModbusClient
from joystick import Joystick
# Main loop
if __name__ == '__main__':
cap = cv2.VideoCapture(1)
cap.set(propId=3, value=640)
cap.set(propId=4, value=480)
client = ModbusClient()
js = Joystick()
objectDetection = ObjectDetection(cap, watch=True)
# Sends data over Modbus client for as long the connection is established
while client.isConnected():
ball_coordinates = objectDetection.getCoordinates()
js_coordinates = js.getEvents()
client.sendInt(value=ball_coordinates[0], address=12288)
client.sendInt(value=ball_coordinates[1], address=12290)
client.sendInt(value=js_coordinates[0], address=12292)
client.sendInt(value=js_coordinates[1], address=12294)
# Break loop with ESC-key
key = cv2.waitKey(5) & 0xFF
if key == 27:
"""
from modbus_communication import ModbusClient
from gamechecker import GameChecker
import random
import cv2
import time
array = [1, 2, 3, 4, 5, 6, 7, 8, 9]
numbers = ['1', '2', '3', '4', '5', '6', '7', '8', '9']
drawboard = ['2', '5', '6', '10', '11']
# Main loop
if __name__ == '__main__':
UR31 = ModbusClient(ip='158.38.140.249')
UR32 = ModbusClient(ip='158.38.140.250')
cap = cv2.VideoCapture(1)
game = GameChecker(capture=cap, watch=True)
players = [UR31, UR32]
playerstest = ["player1", "player2"]
startplayer = random.randint(0, 1) # Decides who starts
turn = startplayer
while UR31.isConnected() and UR32.isConnected():
clean = game.cleanBoard()
if not clean:
# Dictionary holding Modbus IP addresses
ipaddresses = {'UR3.1': '158.38.140.249', 'PLS': '158.38.140.63'}
# Reset the gamestate for each cycle
game_state = ["-", "-", "-", "-", "-", "-", "-", "-", "-"]
# Create a list of all possible win combinations
""" 1 2 3 4 5 6 7 8 """
win_combinations = [[0, 1, 2], [3, 4, 5], [6, 7, 8], [6, 3, 0], [7, 4, 1],
[8, 5, 2], [6, 4, 2], [8, 4, 0]]
# Main loop
if __name__ == '__main__':
# Creating the client and camera capture.
client = ModbusClient(ip='158.38.140.250')
PLS = ModbusClient(ip='158.38.140.63')
cap = cv2.VideoCapture(1)
# TODO - SCALE DOWN THE CAPTURE
game = GameChecker(capture=cap, watch=False)
print("Objects created.")
print("Client connecting...")
while client.isConnected():
try:
"""This is used for testing when I cannot use our
robot for testing when I am away from the LAB"""
string = str(input("enter below\n"))
print(string)
"""Just a test lmao"""
'UR3.1': '158.38.140.250'
}
# Reset the gamestate for each cycle
game_state = ["-", "-", "-", "-", "-", "-", "-", "-", "-"]
# Create a list of all possible win combinations
""" 1 2 3 4 5 6 7 8 """
win_combinations = [[0, 1, 2], [3, 4, 5], [6, 7, 8], [6, 3, 0], [7, 4, 1],
[8, 5, 2], [6, 4, 2], [8, 4, 0]]
# Main loop
if __name__ == '__main__':
# Creating the client and camera capture.
client = ModbusClient(ip='158.38.140.249')
#cap = cv2.VideoCapture(1)
# TODO - SCALE DOWN THE CAPTURE
#game = GameChecker(capture=cap, watch=True)
print("Objects created.")
print("Client connecting...")
while client.isConnected():
"""This is used for testing when I cannot use our
robot for testing when I am away from the LAB"""
string = str(input("enter below\n"))
print(string)
"""Just a test lmao"""
if string == "lmao":
print("epiclmao")