def demo_step_find_object(ip,
speed=20,
dis=1,
object='cup',
vAngle=30,
hAngle=90):
"""
移动，一步一步的寻找物体
Parameter
-------
*ip:string
-树莓派的
*object:string
-要寻找的物体
*vAngle:int
-垂直方向的角度
*hAngle:int
-水平方向的角度
*speed:int
-移动的速度
*dis:float
-时间间隔
"""
# 初始化
car = Car(ip)
# 相机初始化
camera = Camera()
camera.connect_server(ip)
camera.start_receive()
camera.thread_play()
ai = Ai(classes="./aiLib/coco/coco.names",
config="./aiLib/coco/yolov3.cfg",
weight="./aiLib/coco/yolov3.weights")
car.turn_servo_camera_vertical(vAngle)
car.turn_servo_camera_horizental(hAngle)
global STOP_FLAGE
while True:
if STOP_FLAGE is True:
print('over .............................................')
return
status = get_status_with_camera(car, camera, ai, object)
car.turn_servo_camera_horizental(90)
print(status)
if status == 'status_move':
car.run_forward(speed, dis)
if status == 'status_turn_right':
car.spin_right(10, 0.4)
if status == 'status_turn_left':
car.spin_left(10, 0.4)
if status == 'status_stop':
return
def demo_move_step_find_object(ip,
speed=20,
dis=1,
object='cup',
vAngle=40,
hAngle=80):
"""
连续移动寻找物体
Parameter
-------
*ip:string
-树莓派的Ip
*object:string
-要寻找的物体
*vAngle:int
-垂直方向的角度
*hAngle:int
-水平方向的角度
"""
car = Car(ip)
camera = Camera()
camera.connect_server(ip)
camera.start_receive()
camera.thread_play()
ai = Ai(classes="./aiLib/coco/coco.names",
config="./aiLib/coco/yolov3.cfg",
weight="./aiLib/coco/yolov3.weights")
car.turn_servo_camera_vertical(vAngle)
car.turn_servo_camera_horizental(hAngle)
mainThread_ = threading.Thread(target=find_object,
args=(
camera,
ai,
object,
))
mainThread_.start()
Cruising(car, 4) # 以4的速度进行漫游
car.turn_servo_camera_vertical(vAngle)
car.turn_servo_camera_horizental(hAngle)
global STOP_FLAGE
while CAMERA_FLAGE:
if STOP_FLAGE == True:
car.stop_all_wheels()
print('over .............................................')
return
status = get_status_with_camera(car, camera, ai, object)
car.turn_servo_camera_horizental(90)
print(status)
if status == 'status_move':
car.run_forward(speed, dis)
if status == 'status_turn_right':
car.spin_right(10, 0.4)
if status == 'status_turn_left':
car.spin_left(10, 0.4)
if status == 'status_stop':
return