diff options
Diffstat (limited to 'nicla/road.py')
| -rw-r--r-- | nicla/road.py | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/nicla/road.py b/nicla/road.py index 20863cc..1b06e78 100644 --- a/nicla/road.py +++ b/nicla/road.py @@ -1,11 +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 @@ -25,8 +27,7 @@ points = [(STRETCH, HORIZON), (WIDTH-1+SQUEEZE, HEIGHT-1), (-SQUEEZE, HEIGHT-1)] -def main(): - img = sensor.snapshot() +def drive(driveImg): img.to_grayscale() img.replace(vflip=True, hmirror=True) img.rotation_corr(corners=points) @@ -34,14 +35,12 @@ def main(): 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 = MIN_AREA + min(MAX_AREA, blob.w() * blob.h()) # limit max area_weight so small blobs still have impact 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 @@ -53,7 +52,23 @@ def main(): steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START) uart.uart_buffer(steerByte) + +speed = signs_detect.init_kpts("speed") +stop = signs_detect.init_kpts("stop") +car = signs_detect.init_kpts("image") while(True): - main() - uart.uart_buffer(DUI_CMD_SPEED_END) - clock.tick() + + img = sensor.snapshot() + data = traffic_light.traf_lights(img) + if data is not None: + uart.uart_buffer(data) + + + sign_img = sensor.snapshot() + data_sign = signs_detect.sign_detection(sign_img) + if data_sign is not None: + uart.uart_buffer(data_sign) + + drive_img = sensor.snapshot() + drive(drive_img) + #uart.uart_buffer(DUI_CMD_SPEED_END) |