diff options
Diffstat (limited to 'nicla/road.py')
| -rw-r--r-- | nicla/road.py | 32 |
1 files changed, 20 insertions, 12 deletions
diff --git a/nicla/road.py b/nicla/road.py index 02867b8..27101ea 100644 --- a/nicla/road.py +++ b/nicla/road.py @@ -1,12 +1,13 @@ import sensor, image, time, math import uart +import signs_detect import traffic_light from consts import * sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.HVGA) -sensor.skip_frames(time = 2000) +sensor.skip_frames(time = 4000) clock = time.clock() WIDTH = 480 @@ -33,14 +34,12 @@ def drive(driveImg): offset_sum = 0.0 offset_count = 0.0 - for blob in img.find_blobs([(ROAD_MIN_BRIGHTNESS, 0xff)], pixels_threshold=100): img.draw_rectangle(blob.rect()) area_weight = blob.area() horizontal_pos = (blob.x() + blob.w()/2) / WIDTH offset_sum += horizontal_pos * area_weight offset_count += area_weight - # dit tegen niemand zeggen if offset_count < 0.01: return avg = offset_sum / offset_count @@ -52,13 +51,22 @@ def drive(driveImg): steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START) uart.uart_buffer(steerByte) sensor.dealloc_extra_fb() - +count = 0 while(True): - img = sensor.snapshot() - data = traffic_light.traf_lights(img) - if data is not None: - print(data) - uart.uart_buffer(data) - drive(img) - #uart.uart_buffer(DUI_CMD_SPEED_END) - clock.tick() + if count == 0: + count = count + 1 + speed = signs_detect.init_kpts("speed") + #stop = signs_detect.init_kpts("stop") + #car = signs_detect.init_kpts("image") + else: + img = sensor.snapshot() + data = traffic_light.traf_lights(img) + if data is not None: + uart.uart_buffer(data) + + #data_sign = signs_detect.sign_detection(img) + #if data_sign is not None: + #uart.uart_buffer(data_sign) + + drive(img) + #uart.uart_buffer(DUI_CMD_SPEED_END) |