Add description

README.md

@@ -2,3 +2,4 @@
 It is a tank made by japanese junior high school students with Raspberry pi.
 
 ###This article uses Google Translate.###
+This project was created to make a remote control car work with Raspberry Pi and Python. I'm still inexperienced, so I'd like you to give me any advice.

s2.py

@@ -9,33 +9,36 @@
 gpio_pin2 = 27
 #1= left
 #2= right
+import sys
 import time
+import cv2
+import numpy as  np
 import RPi.GPIO as GPIO
+cap = cv2.VideoCapture(0)
+
 GPIO.setmode(GPIO.BCM)
 
 GPIO.setup(gpio_pin , GPIO.OUT)
 GPIO.setup(gpio_pin2 , GPIO.OUT)
 #27 = right
+run_time = 0.1
 def Right(none):
     GPIO.output(gpio_pin, 0)
     GPIO.output(gpio_pin2, 1)
-    time.sleep(0.60)
+    time.sleep(run_time)
     Off("a")
     return 0
 def Left(none):
     GPIO.output(gpio_pin, 1)
     GPIO.output(gpio_pin2, 0)
-    time.sleep(0.60)
+    time.sleep(run_time)
     Off("a")
     return 0
 def Straight(none):
-    for i in range(2):
-        Right(0)
-        time.sleep(0.1)
-        Off("r")
-        Left(0)
-        time.sleep(0.17)
-        Off("l")
+    GPIO.output(gpio_pin, 1)
+    GPIO.output(gpio_pin2, 1)
+    time.sleep(run_time + 0.5)
+    Off("a")
     return 0
 def Off(which):
     if which == "r":
@@ -46,8 +49,74 @@ def Off(which):
         GPIO.output(gpio_pin , 0)
         GPIO.output(gpio_pin2 , 0)
     return 0
+
+
+before = None
+camera_mode = 3
 while True:
     try:
+        ret, frame = cap.read()
+        if camera_mode == 2:
+            cv2.imshow("camera", frame)
+        else:
+            gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
+            if camera_mode == 1:
+                if before is None:
+                    before = gray.copy().astype("float")
+                    continue
+                cv2.imshow("camera", gray)
+
+            else:
+
+                #before = gray.copy().astype("float")
+
+                #ret,two = cv2.threshold(gray,147,255,cv2.THRESH_BINARY)
+                ret,two = cv2.threshold(gray,127,255,cv2.THRESH_BINARY)
+                cv2.imshow("camera", two)
+                """
+                cv2.accumulateWeighted(gray, before, 0.7)
+                mdframe = cv2.absdiff(gray, cv2.convertScaleAbs(before))
+
+
+                ret,thresh2 = cv2.threshold(mdframe,10,255,cv2.THRESH_BINARY)
+
+                ret,thresh1 = cv2.threshold(gray,147,255,cv2.THRESH_BINARY)
+                cv2.imshow("threshed1", thresh1)
+                """
+
+
+
+
+
+        k = cv2.waitKey(1)&0xff
+        if k == ord("w"):
+            print("w")
+            Straight(0)
+        elif k == ord("d"):
+            print("r")
+            Right(0)
+        elif k == ord("a"):
+            print("l")
+            Left(0)
+        elif k == ord("i"):
+            run_time += 0.1
+            print(run_time)
+            print("Straight" , str(run_time + 0.5))
+        elif k == ord("k"):
+            run_time -= 0.1
+            print(run_time)
+            print("Straight" , str(run_time + 0.5))
+        elif k == ord("o"):
+            if camera_mode < 3:
+                camera_mode += 1
+                print("camera_mode set "+ str(camera_mode) + ".")
+        elif k == ord("l"):
+            if camera_mode > 1:
+                camera_mode -= 1
+                print("camera_mode set "+ str(camera_mode) + ".")
+        elif k == 27:
+            break
+        """
         answer = ""
         answer = raw_input("Chose, s  or r  or l or ss or e.")
         if answer == "s":
@@ -58,14 +127,16 @@ def Off(which):
             Left(0)
         elif answer == "ss":
             Off("a")
+
         elif answer == "e":
             break
         else:
             print("What?")
-
+    """
     except KeyboardInterrupt:
         print("safe end.")
         break
-
+cv2.destroyAllWindows()
+cap.release
 GPIO.cleanup()
 print("All end.")