import numpy as np import sys, select import cv2 import time import os import RPi.GPIO as GPIO from minisumo_motorcontrol2 import Motors_Class from lineSense2 import lineSensor_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol3 import Motors_Class2 #anything less than 15 switch to short range sensors motor1 = Motors_Class() lineSensors = lineSensor_Class() shortrange = shortrange_Class() motor2 = Motors_Class2() cap = cv2.VideoCapture(0) SPICLK = 18 SPIMISO = 23 SPIMOSI = 24 SPICS = 25 class longrange_Class: def __init__(self): GPIO.setmode(GPIO.BCM) global SPICLK global SPIMISO global SPIMOSI global SPICS
import numpy as np from lineSense2 import lineSensor_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 import sys, select import cv2 lineSensors = lineSensor_Class() motors= Motors_Class() motors2= Motors_Class2() cap = cv2.VideoCapture(0) # take first frame of the video ret,frame = cap.read() # setup initial location of window r,h,c,w = 250,150,400,150 # simply hardcoded the values track_window = (c,r,w,h) # set up the ROI for tracking roi = frame[r:r+h, c:c+w] hsv_roi = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv_roi, np.array((0., 60.,32.)), np.array((180.,255.,255.))) roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180]) cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX) # Setup the termination criteria, either 10 iteration or move by atleast 1 pt term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 ) direct='w' lastdist=0
import time from lineSense2 import lineSensor_Class from minisumo_motorcontrol2 import Motors_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class lineSensors= lineSensor_Class() motors= Motors_Class() longrange= longrange_Class() shortrange= shortrange_Class() motors.motor_move("w",4) while(True): if(1==lineSensors.check1()): motors.motor_move("x",0) time.sleep(1) motors.motor_move("s",4) elif(1==lineSensors.check2()): motors.motor_move('x',0) time.sleep(1) motors.motor_move('s',4) elif(1==lineSensors.check3()): motors.motor_move('x',0) time.sleep(1) motors.motor_move('s',4) elif(1==lineSensors.check4()): motors.motor_move('x',0) time.sleep(1) motors.motor_move('s',4) elif(shortrange.rngsens()>3): motors.motor_move('x',0)
from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from accelerometer import Accel lineSensors = lineSensor_Class() motors = Motors_Class() longrange = longrange_Class() shortrange = shortrange_Class() short = shortrange.rngsens longone = longrange.rangesens # l1 = lineSensors.check1() # l2 = lineSensors.check2() # l3 = lineSensors.check3() l4 = lineSensors.check4() results = Accel.mag_accel() # test variables # l1 = 0 # l2 = 1 # l3 = 1 # l4 = 1 # short = 12 # long = 60 # ax = -4 axtotal = results[0] aytotal = results[1]
import time from lineSense2 import lineSensor_Class from minisumo_motorcontrol2 import Motors_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class lineSensors = lineSensor_Class() motors = Motors_Class() longrange = longrange_Class() shortrange = shortrange_Class() motors.motor_move("w", 4) while (True): if (1 == lineSensors.check1()): motors.motor_move("x", 0) time.sleep(1) motors.motor_move("s", 4) elif (1 == lineSensors.check2()): motors.motor_move('x', 0) time.sleep(1) motors.motor_move('s', 4) elif (1 == lineSensors.check3()): motors.motor_move('x', 0) time.sleep(1) motors.motor_move('s', 4) elif (1 == lineSensors.check4()): motors.motor_move('x', 0) time.sleep(1) motors.motor_move('s', 4) elif (shortrange.rngsens() > 3): motors.motor_move('x', 0)
from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 from accelerometer import Accel import time lineSensors= lineSensor_Class() Accel1 = Accel() motor1= Motors_Class() motor2 = Motors_Class2() longrange= longrange_Class() shortrange= shortrange_Class() try: while True: motor1.motor_move('a', 3) motor2.motor_move('a', 3) shortrange.rngsens() lineSensors.check1() lineSensors.check2() lineSensors.check3() lineSensors.check4() longrange.rangesens() except KeyboardInterrupt: GPIO.cleanup()
import time #load files from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 from accelerometer import Accel #Create objects and variables lineSensors= lineSensor_Class() motors= Motors_Class() motors2 = Motors_Class2() longrange= longrange_Class() shortrange= shortrange_Class() mouse_data = mouse_pos(stat,x,y) first = 'y' origin = 'y' ##can move this function into the lineSensors class def checkLines(): if lineSensors.check1() == 1: motors.motor_move('a', 4) motors.motor_move('a', 4) detect = 1 elif lineSensors.check2() == 1: moving('x') motors2.motor_move('x', 0) motors.motor_move('a', 4)
from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 motors=Motors_Class() motors2=Motors_Class2() while(1): direct = raw_input() motors.motor_move(direct,6) motors2.motor_move(direct,6)
from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 from accelerometer import Accel import time lineSensors = lineSensor_Class() Accel1 = Accel() motor1 = Motors_Class() motor2 = Motors_Class2() longrange = longrange_Class() shortrange = shortrange_Class() try: while True: motor1.motor_move('a', 3) motor2.motor_move('a', 3) shortrange.rngsens() lineSensors.check1() lineSensors.check2() lineSensors.check3() lineSensors.check4() longrange.rangesens() except KeyboardInterrupt: GPIO.cleanup()
from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 from accelerometer import Accel import time import RPi.GPIO as GPIO lineSensors = lineSensor_Class() Accel1 = Accel() motor1 = Motors_Class() motor2 = Motors_Class2() longrange = longrange_Class() shortrange = shortrange_Class() #create file def moving(dir): if dir == 'x': motor1.motor_move('x', 0) motor2.motor_move('x', 0) if dir == 'a': motor1.motor_move('a', 5) motor2.motor_move('a', 5) if dir == 's': motor1.motor_move('s', 8) motor2.motor_move('s', 8) if dir == 'd': motor1.motor_move('d', 5) motor2.motor_move('d', 5)
from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 motors = Motors_Class() motors2 = Motors_Class2() while (1): direct = raw_input() motors.motor_move(direct, 6) motors2.motor_move(direct, 6)
from lineSense2 import lineSensor_Class from longrangemethod import longrange_Class from shortrangemethod import shortrange_Class from minisumo_motorcontrol2 import Motors_Class from minisumo_motorcontrol3 import Motors_Class2 from accelerometer import Accel import time import RPi.GPIO as GPIO lineSensors= lineSensor_Class() Accel1 = Accel() motor1= Motors_Class() motor2 = Motors_Class2() longrange= longrange_Class() shortrange= shortrange_Class() #create file def moving(dir): if dir == 'x': motor1.motor_move('x', 0) motor2.motor_move('x', 0) if dir == 'a': motor1.motor_move('a', 5) motor2.motor_move('a',5) if dir == 's': motor1.motor_move('s',8) motor2.motor_move('s',8) if dir == 'd': motor1.motor_move('d', 5) motor2.motor_move('d', 5) if dir == 'w':