dirpath = os.path.dirname(os.path.realpath(__file__)) + '/Images'
timestart = time()
speedfactor = 0.6
speedlimit = 70
turnspeedlimit = 60
################### Setup Bluetooth #############################
oldvals = [0, 0, 0, 0]
sendcount = 0
bd_addr = '98:D3:91:FD:46:C9' # use: 'hcitool scan' to scan for your T-Bot address
port = 1
#btcom = tbt.bt_connect(bd_addr,port,'PyBluez')
btcom = tbt.bt_connect(bd_addr, port, 'Socket')
#port = 'COM5'
#port = '/dev/tty.George-DevB'
#baudrate = 38400
#btcom = tbt.bt_connect(bd_addr,port,'PySerial',baudrate)
################### Screen Text Class #############################
class TextPrint(object):
def __init__(self):
self.reset()
self.font = pygame.font.Font(None, 15)
def tprint(self, screen, textString):
#-------------------- Define functions ------------------------------#
geom = geometry.geometry(1) # scale factor to convert pixels to mm
#--------------------- Setup Bluetooth --------------------------------#
data = [0, 0, 0, 0]
sendcount = 0
#------------------------------------------------------------------
# For Linux / Raspberry Pi
#------------------------------------------------------------------
bd_addr = '98:D3:51:FD:81:AC' # use: 'hcitool scan' to scan for your T-Bot address
#bd_addr = '98:D3:51:FD:82:95' # George
#bd_addr = '98:D3:91:FD:46:C9' # B
#bd_addr = '98:D3:32:21:3D:77'
port = 1
btcom = tbt.bt_connect(bd_addr, port,
'PyBluez') # PyBluez works well for the Raspberry Pi
#btcom = tbt.bt_connect(bd_addr,port,'Socket')
#----------------------------------------------------------------------#
# For Windows and Mac
#----------------------------------------------------------------------#
#port = 'COM5'
#port = '/dev/tty.George-DevB'
#baudrate = 38400
#bd_addr = 'Empty'
#btcom = tbt.bt_connect(bd_addr,port,'PySerial',baudrate)
#---------------------- Setup the Camera ----------------------------#
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_AUTOFOCUS, 0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 720)
#----------------------------------------------------------------------#
# For Linux / Raspberry Pi
#----------------------------------------------------------------------#
#bd_addr = '98:D3:51:FD:81:AC' # use: 'hcitool scan' to scan for your T-Bot address
#bd_addr = '98:D3:32:21:3D:77'
bd_addr = '98:D3:91:FD:46:C9' # B
#bd_addr = '98:D3:32:21:3D:A2' # Foxy
#bd_addr = '98:D3:91:FD:46:9C' # T-Bot
#bd_addr = '98:D3:32:21:3D:77' # Cinemon
#bd_addr = '98:D3:51:FD:82:95' # George
bd_addr = '98:D3:71:FD:44:F7'
port = 1
btcom = tbt.bt_connect(bd_addr, port, 'PyBluez')
#btcom = tbt.bt_connect(bd_addr,port,'Socket')
#----------------------------------------------------------------------#
# For Windows and Mac
#----------------------------------------------------------------------#
#port = 'COM5'
#port = '/dev/tty.George-DevB'
#baudrate = 38400
#bd_addr = 'Empty'
#btcom = tbt.bt_connect(bd_addr,port,'PySerial',baudrate)
#------------------ Define some colors ---------------------------#
BLACK = pygame.Color('black')
data1 = [0, 0, 0, 0]
data2 = [0, 0, 0, 0]
sendcount1 = 0
sendcount2 = 0
#----------------------------------------------------------------------#
# For Linux / Raspberry Pi
# use: 'hcitool scan' to scan for your T-Bot address
# Note: you will have to connect to the T-Bot using your
# system's bluetooth application using the 1234 as the password
#----------------------------------------------------------------------#
bd_addr2 = '98:D3:71:FD:46:9C' # Trailblazer
bd_addr = '98:D3:51:FD:82:95' # George
port = 1
btcom1 = tbt.bt_connect(bd_addr, port,
'PyBluez') # PyBluez works well for the Raspberry Pi
btcom2 = tbt.bt_connect(bd_addr2, port,
'Socket') # PyBluez works well for the Raspberry Pi
#btcom = tbt.bt_connect(bd_addr,port,'Socket')
#----------------------------------------------------------------------#
# For Windows and Mac
#----------------------------------------------------------------------#
#port = 'COM5'
#port = '/dev/tty.George-DevB'
#baudrate = 38400
#bd_addr = 'Empty'
#btcom = tbt.bt_connect(bd_addr,port,'PySerial',baudrate)
########################################################################
#----------------------- Start main loop ----------------------------#
