def contact_camera():
nrf_bridge = Bridge('/dev/ttyACM0') # '/dev/ttyACM0'
a = nrf_bridge.assign_addresses()
for i in list(a.keys()):
nrf_bridge.set_TX_address(i)
if nrf_bridge.get_ID_type()[6] == 1: # find first camera in neighbours
camera_address = i
break
else:
raise RuntimeError('No cameras found')
return nrf_bridge
from nrf import Bridge
import numpy as np
import cv2
import math
import time
from sklearn.neighbors import NearestNeighbors
import scipy.sparse.csgraph
import circle as CL
import clustering as CLTR
SHOW_NEIGHBORS = True
LED_DETECTION_THRESHOLD = 6
ix, iy = -1, -1
nrf = Bridge('/dev/ttyACM0') # '/dev/ttyACM1'
a = nrf.assign_addresses()
for i in list(a.keys()):
nrf.set_TX_address(i)
if nrf.get_ID_type()[6] == 1: # find first camera in neighbours
camera_address = i
break
else:
raise RuntimeError('No cameras found')
def draw_circle(event, x, y, flags, param):
global ix, iy
if event == cv2.EVENT_LBUTTONDBLCLK:
destination = [x, y]
print(destination)
sys.path.insert(0, '../libs/')
from nrf import Bridge
if len(sys.argv) == 2:
if sys.argv[1] == '-c':
camera_calibration = True
print 'Entered camera calibration mode.'
else:
# -c: for turning on the calibration LED patterns
print 'Usage:', sys.argv[0], '[-c]'
sys.exit(1)
else:
camera_calibration = False
nrf = Bridge()
cameras, ebugs, unknowns = nrf.assign_static_addresses('../libs/ebug_tab.json')
for addr, info in ebugs.items():
print 'Initializing eBug: ', addr
nrf.set_TX_address(addr)
nrf.enable_LEDs(0, 1, 0, 0)
nrf.LED_brightness(8)
nrf.LCD_backlight(0)
if camera_calibration == True:
# Calibration LED pattern (upward looking set):
# D2 is illuminated red - front (0 degrees) - GGRGG
# D18 is illuminated blue - (180 degrees) - GGBGG
red = 0x0800 + 0x4000 + 0x8000 + 0x0001 + 0x0040 + 0x0080 + 0x0100
green = 0x1000 + 0x2000 + 0x0002 + 0x0020 + 0x0200 + 0x0400
blue = 0x0010 + 0x0008 + 0x0004
from nrf import Bridge
import time
from random import randint
nrf = Bridge('/dev/ttyACM1')#'/dev/ttyACM0'
camera, eBugs, unknown = nrf.assign_addresses()
ID = 0
for address, info in eBugs.items():
nrf.set_TX_address(address)
nrf.LCD_backlight(0)
nrf.enable_LEDs(0,1,0,0)
nrf.LED_brightness(20)
LED_set = info['led_sequence']
nrf.set_LEDs(*LED_set)
ID += 1
from nrf import Bridge
import sys
if 'all' in sys.argv:
flash_all = True
sys.argv.remove('all')
else:
flash_all = False
if len(sys.argv) < 2:
raise RuntimeError(
'usage: %s master|slave|<filename> [all] [<serial port>]' %
sys.argv[0])
if len(sys.argv) < 3:
nrf = Bridge()
else:
nrf = Bridge(sys.argv[2])
master = '../ebug2014-firmware/eBug2014 Master.cydsn/CortexM3/ARM_GCC_493/Release/eBug2014 Master.cyacd'
slave = '../ebug2014-firmware/eBug2014 Slave.cydsn/CortexM3/ARM_GCC_493/Release/eBug2014 Slave.cyacd'
flash_func = nrf.flash_all_ebugs if flash_all else nrf.flash
if sys.argv[1] == 'master':
flash_func(master)
elif sys.argv[1] == 'slave':
flash_func(slave)
else:
flash_func(sys.argv[1])
#!/usr/bin/python
from nrf import Bridge
nrf=Bridge()
camera, eBugs, unknown = nrf.assign_addresses()
for addr, info in eBugs.items():
nrf.set_TX_address(addr)
nrf.print_top('-'.join(str(element) for element in info['psoc_id']))
from __future__ import with_statement
from __future__ import division
from __future__ import absolute_import
#import settings
import time
import sys
import threading
from multiprocessing import Process
from io import open
sys.path.insert(0, '../libs/')
from nrf import Bridge
nrf = Bridge()
while True:
camera, eBugs, unknown = nrf.assign_static_addresses(path = \
u'../libs/ebug_tab.json')
if camera:
break
else:
print u" -------- Waiting for camera --------"
time.sleep(0.03)
#set communication with the first camera detected
#to be changed when multiple cameras
nrf.set_TX_address(iter(camera).next())
#settings camera
# Do not play with the settings, we will fix them with camera.py
layout.addWidget(P_r, 4, 2)
layout.addWidget(I_l, 5, 1)
layout.addWidget(I_r, 5, 2)
layout.addWidget(D_l, 6, 1)
layout.addWidget(D_r, 6, 2)
def update():
l, r = n.get_motor_turn_counts()
pos_l.setText(str(l))
pos_r.setText(str(r))
l, r = n.get_motor_speed()
# eBug actually measures period, not speed
l = (1 << 16) / l
# this is the value the controller uses
r = (1 << 16) / r
speed_l.setText(str(l))
speed_r.setText(str(r))
timer = QTimer()
timer.timeout.connect(update)
timer.start(10)
n = Bridge()
if n.assign_addresses():
win.show()
sys.exit(app.exec_())
else:
print('No eBugs found')
try:
nrf.set_camera_thresholds(thresholds.values)
except RuntimeError, e: # ACK not received, set trackbar back
# to original value
thresholds.values[self.i] = old
cv2.setTrackbarPos([u'Red', u'Green', u'Blue', u'Magenta'] \
[self.i / 2] + u' ' + [u'U', u'V'] \
[self.i % 2], u'Blob Camera', old)
#
#
# end class thresholds
nrf = Bridge(u'/dev/ttyACM0') # or '/dev/ttyACM1' ToDo
a = nrf.assign_addresses()
for i in list(a.keys()):
nrf.set_TX_address(i)
if nrf.get_ID_type()[6] == 1: # find first camera in neighbours
camera_address = i
break
else:
raise RuntimeError(u'No cameras found')
# We are operating the camera at SXGA resolution.
# If you want to
# overclock th PSoC and camera (default is 48MHz, which gives 15fps SXGA,
# 30fps VGA, 60fps CIF and 120fps QCIF)