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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,191 @@ | ||
| # -*- coding: utf-8 -*- | ||
| """ | ||
| Created on Wed Mar 4 16:00:05 2020 | ||
| @author: LEGOnosuke | ||
| """ | ||
| print("WAIT PLEASE...") | ||
| gpio_pin = 17 | ||
| gpio_pin2 = 27 | ||
| #1= left | ||
| #2= right | ||
| import Adafruit_PCA9685 | ||
| import sys | ||
| import time | ||
| import cv2 | ||
| import numpy as np | ||
| import RPi.GPIO as GPIO | ||
| cap = cv2.VideoCapture(0) | ||
| cap2 = cv2.VideoCapture(1) | ||
| change = 10 | ||
|
|
||
| #PCA9685 settings | ||
| pwm = Adafruit_PCA9685.PCA9685() | ||
| pwm.set_pwm_freq(50) | ||
| stop = 0.5 | ||
| set1 = 370 | ||
| set2 = 330 | ||
| pwm.set_pwm(0, 0, set1) | ||
| pwm.set_pwm(1, 0, set2) | ||
|
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||
|
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||
| 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(run_time) | ||
| Off("a") | ||
| return 0 | ||
| def Left(none): | ||
| GPIO.output(gpio_pin, 1) | ||
| GPIO.output(gpio_pin2, 0) | ||
| time.sleep(run_time) | ||
| Off("a") | ||
| return 0 | ||
| def Straight(none): | ||
| 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": | ||
| GPIO.output(gpio_pin2 , 0) | ||
| elif which == "l": | ||
| GPIO.output(gpio_pin , 0) | ||
| elif which == "a": | ||
| GPIO.output(gpio_pin , 0) | ||
| GPIO.output(gpio_pin2 , 0) | ||
| return 0 | ||
|
|
||
|
|
||
| before = None | ||
| camera_mode = 2 | ||
| print("SETUP OK") | ||
| print("---------------CONTROLS----------------------") | ||
| a = 0.1 | ||
| time.sleep(a) | ||
| print("W:go straight A,D:trun right or left") | ||
| time.sleep(a) | ||
| print("Y,G,H,J : 180*Camera control") | ||
| time.sleep(a) | ||
| print("I,K : move control") | ||
| time.sleep(a) | ||
| print("O,L : camera mode set") | ||
| time.sleep(a) | ||
| print("esc : exit program") | ||
| time.sleep(a) | ||
| print("---------------------------------------------") | ||
| print("camera screen booting...") | ||
| while True: | ||
|
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||
|
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||
| try: | ||
| ret,frame2 = cap2.read() | ||
| cv2.imshow("180* Camera",frame2) | ||
| ret, frame = cap.read() | ||
| if camera_mode == 2: | ||
| cv2.imshow("Front 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("Front Camera", gray) | ||
|
|
||
| else: | ||
|
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| #before = gray.copy().astype("float") | ||
|
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||
| #ret,two = cv2.threshold(gray,147,255,cv2.THRESH_BINARY) | ||
| ret,two = cv2.threshold(gray,127,255,cv2.THRESH_BINARY) | ||
| cv2.imshow("Front 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) | ||
| """ | ||
|
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|
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| k = cv2.waitKey(1)&0xff | ||
| #DC | ||
| if k == ord("w"): | ||
| print("Straight") | ||
| Straight(0) | ||
| elif k == ord("a"): | ||
| print("Left") | ||
| Right(0) | ||
| elif k == ord("d"): | ||
| print("Right") | ||
| 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) + ".") | ||
|
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||
|
|
||
| elif k == 27: | ||
| break | ||
|
|
||
| #PCA9685 | ||
| elif k == ord("y"): | ||
| set1 -= change | ||
| elif k == ord("h"): | ||
| set1 += change | ||
| elif k == ord("g"): | ||
| set2 += change | ||
| elif k == ord("j"): | ||
| set2 -= change | ||
|
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||
| pwm.set_pwm(0, 0, set1) | ||
| pwm.set_pwm(1, 0, set2) | ||
| """ | ||
| answer = "" | ||
| answer = raw_input("Chose, s or r or l or ss or e.") | ||
| if answer == "s": | ||
| Straight(0) | ||
| elif answer == "r": | ||
| Right(0) | ||
| elif answer == "l": | ||
| 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.") |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,191 @@ | ||
| # -*- coding: utf-8 -*- | ||
| """ | ||
| Created on Wed Mar 4 16:00:05 2020 | ||
| @author: LEGOnosuke | ||
| """ | ||
| print("WAIT PLEASE...") | ||
| gpio_pin = 17 | ||
| gpio_pin2 = 27 | ||
| #1= left | ||
| #2= right | ||
| import Adafruit_PCA9685 | ||
| import sys | ||
| import time | ||
| import cv2 | ||
| import numpy as np | ||
| import RPi.GPIO as GPIO | ||
| cap = cv2.VideoCapture(0) | ||
| cap2 = cv2.VideoCapture(1) | ||
| change = 10 | ||
|
|
||
| #PCA9685 settings | ||
| pwm = Adafruit_PCA9685.PCA9685() | ||
| pwm.set_pwm_freq(50) | ||
| stop = 0.5 | ||
| set1 = 370 | ||
| set2 = 330 | ||
| pwm.set_pwm(0, 0, set1) | ||
| pwm.set_pwm(1, 0, set2) | ||
|
|
||
|
|
||
| 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(run_time) | ||
| Off("a") | ||
| return 0 | ||
| def Left(none): | ||
| GPIO.output(gpio_pin, 1) | ||
| GPIO.output(gpio_pin2, 0) | ||
| time.sleep(run_time) | ||
| Off("a") | ||
| return 0 | ||
| def Straight(none): | ||
| 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": | ||
| GPIO.output(gpio_pin2 , 0) | ||
| elif which == "l": | ||
| GPIO.output(gpio_pin , 0) | ||
| elif which == "a": | ||
| GPIO.output(gpio_pin , 0) | ||
| GPIO.output(gpio_pin2 , 0) | ||
| return 0 | ||
|
|
||
|
|
||
| before = None | ||
| camera_mode = 2 | ||
| print("SETUP OK") | ||
| print("---------------CONTROLS----------------------") | ||
| a = 0.1 | ||
| time.sleep(a) | ||
| print("W:go straight A,D:trun right or left") | ||
| time.sleep(a) | ||
| print("Y,G,H,J : 180*Camera control") | ||
| time.sleep(a) | ||
| print("I,K : move control") | ||
| time.sleep(a) | ||
| print("O,L : camera mode set") | ||
| time.sleep(a) | ||
| print("esc : exit program") | ||
| time.sleep(a) | ||
| print("---------------------------------------------") | ||
| print("camera screen booting...") | ||
| while True: | ||
|
|
||
|
|
||
| try: | ||
| ret,frame2 = cap2.read() | ||
| cv2.imshow("180* Camera",frame2) | ||
| ret, frame = cap.read() | ||
| if camera_mode == 2: | ||
| cv2.imshow("Front 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("Front 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("Front 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) | ||
| """ | ||
|
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||
|
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|
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|
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|
|
||
| k = cv2.waitKey(1)&0xff | ||
| #DC | ||
| if k == ord("w"): | ||
| print("Straight") | ||
| Straight(0) | ||
| elif k == ord("a"): | ||
| print("Left") | ||
| Right(0) | ||
| elif k == ord("d"): | ||
| print("Right") | ||
| 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 | ||
|
|
||
| #PCA9685 | ||
| elif k == ord("y"): | ||
| set1 -= change | ||
| elif k == ord("h"): | ||
| set1 += change | ||
| elif k == ord("g"): | ||
| set2 += change | ||
| elif k == ord("j"): | ||
| set2 -= change | ||
|
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| pwm.set_pwm(0, 0, set1) | ||
| pwm.set_pwm(1, 0, set2) | ||
| """ | ||
| answer = "" | ||
| answer = raw_input("Chose, s or r or l or ss or e.") | ||
| if answer == "s": | ||
| Straight(0) | ||
| elif answer == "r": | ||
| Right(0) | ||
| elif answer == "l": | ||
| 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.") |