def record():
left = request.args.get('l')
right = request.args.get('r')
print(left, right)
if cfg.camera_detected:
"""Video streaming route. Put this in the src attribute of an img tag."""
#return Response(gen(cam.Camera()), mimetype='multipart/x-mixed-replace; boundary=frame')
#frame = gen(cam.Camera())
#frame = gen(cam.Camera())
#while True:
cfg.frame = gen(cam.Camera())
if left:
left = int(left)
if left >= -100 and left <= 100:
cfg.left_motor = left
hw.motor_two_speed(cfg.left_motor)
if right:
right = int(right)
if right >= -100 and right <= 100:
cfg.right_motor = right
hw.motor_one_speed(cfg.right_motor)
return 'record_ok'
else:
return 'no video'
def motor():
left = request.args.get('l')
right = request.args.get('r')
cfg.joyX = request.args.get('joyX')
recording = request.args.get('record')
#print(recording)
if cfg.camera_detected:
cfg.frame = gen(cam.Camera())
#cv2.imwrite(cfg.outputDir+cfg.currentDir+'/'+ 'test.jpg', cfg.frame)
if recording == 'Y':
#cfg.frame = gen(cam.Camera())
#cv2.imwrite(cfg.outputDir+cfg.currentDir+'/'+ 'test.jpg', cfg.frame)
cfg.recording = True
#if cfg.cnt == 0:
cfg.f = open(cfg.outputDir + cfg.currentDir + '/data.csv', 'a')
cfg.fwriter = csv.writer(cfg.f)
saveimage()
if recording == 'N':
cfg.recording = False
cfg.cnt = 0
if cfg.f != '':
cfg.f.close()
if left:
left = int(left)
if left >= -100 and left <= 100:
cfg.left_motor = left
hw.motor_two_speed(cfg.left_motor)
if right:
right = int(right)
if right >= -100 and right <= 100:
cfg.right_motor = right
hw.motor_one_speed(cfg.right_motor)
return 'ok'
start_flag = False
while (True):
k = cv2.waitKey(5)
if k != -1:
print(k)
if k == ord('q'):
break
if k == ord('s'):
if start_flag == False:
start_flag = True
else:
start_flag = False
print('start_flag: ', start_flag)
if start_flag == True:
if k == 82: #forward
hw.motor_one_speed(20)
hw.motor_two_speed(20)
if k == 83: #rigth
hw.motor_one_speed(15)
hw.motor_two_speed(65)
else:
hw.motor_one_speed(0)
hw.motor_two_speed(0)
hw.motor_clean()
cv2.destroyAllWindows()
if k == ord('q'):
break
if k == ord('s'):
if start_flag == False:
start_flag = True
else:
start_flag = False
print('start_flag: ', start_flag)
if start_flag == True:
length = dc.get_distance()
#print(length)
if 5 < length and length < 15:
hw.motor_one_speed(0)
hw.motor_two_speed(0)
print('Stop to avoid collision')
time.sleep(0.2)
else:
if k == 82: #forward
hw.motor_one_speed(50)
hw.motor_two_speed(50)
if k == 81: #left
hw.motor_one_speed(50)
hw.motor_two_speed(20)
if k == 83: #rigth
hw.motor_one_speed(20)
hw.motor_two_speed(50)
if cfg.recording:
start_flag = True
else:
start_flag = False
cfg.cnt = 0
print('cfg.recording:',cfg.recording)
#save image files and images list file
if cfg.recording:
saveimage()
print(cfg.cnt)
if start_flag:
# Left arrow: 81, Right arrow: 83, Up arrow: 82, Down arrow: 84
if k == 81:
hw.motor_one_speed(cfg.maxturn_speed)
hw.motor_two_speed(cfg.minturn_speed)
#print('Straight')
cfg.wheel = 1
if k == 83:
hw.motor_one_speed(cfg.minturn_speed)
hw.motor_two_speed(cfg.maxturn_speed)
cfg.wheel = 3
if k == 82:
hw.motor_one_speed(cfg.normal_speed_right)
hw.motor_two_speed(cfg.normal_speed_left)
cfg.wheel = 2
else:
hw.motor_one_speed(0)
hw.motor_two_speed(0)
cfg.joyX = 100
if cfg.joyX < -100:
cfg.joyX = -100
if cfg.joyX < 0:
tempV = normal_speed - cfg.joyX
else:
tempV = normal_speed + cfg.joyX
if tempV <= 100:
overV = 0
else:
overV = tempV - 100
tempV = 100
if cfg.joyX < 0:
hw.motor_two_speed(normal_speed - overV)
hw.motor_one_speed(tempV)
else:
hw.motor_two_speed(tempV)
hw.motor_one_speed(normal_speed - overV)
else:
hw.motor_one_speed(0)
hw.motor_two_speed(0)
cfg.joyX = 0
###c.release()
hw.motor_clean()
# close all windows
cv2.destroyAllWindows()
if cfg.recording:
start_flag = True
else:
start_flag = False
cfg.cnt = 0
print('cfg.recording:', cfg.recording)
#save image files and images list file
if cfg.recording:
saveimage()
print(cfg.cnt)
#avoid collision
length = 30 #dc.get_distance()
if 5 < length and length < 15 and start_flag:
hw.motor_one_speed(0)
hw.motor_two_speed(0)
print('Stop to avoid collision')
time.sleep(0.5)
continue
if start_flag:
if cfg.joyX > 100:
cfg.joyX = 100
if cfg.joyX < -100:
cfg.joyX = -100
if cfg.joyX < 0:
hw.motor_two_speed(normal_speed - int(normal_speed *
(-cfg.joyX) / 100))
hw.motor_one_speed(normal_speed + int(normal_speed *
