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shoot.py
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import numpy as np
import cv2
from Raveen.motorRotating import *
from Raveen.servo_COntrol_rasberry import *
from Raveen.tofsensorreadings import *
from Nidula.irSensors import *
from Neo.align import *
def grab_ball(video_capture):
base_speed = 30
# video_capture = cv2.VideoCapture(0, cv2.CAP_V4L2)
# # video_capture = cv2.VideoCapture(0)
# video_capture.set(3, 640) # Set the width of the frame
# video_capture.set(4, 480) # Set the height of the frame
# video_capture.set(cv2.CAP_PROP_AUTO_EXPOSURE, 1) # manual mode
# video_capture.set(cv2.CAP_PROP_EXPOSURE, 250)
# # print(video_capture.get(cv2.CAP_PROP_EXPOSURE))
count = 0
kp = 0.13
kd = 0.01
prev_error = 0
ball_grbbed = False
servo_3_rotate(-47)
gripper_down()
while True:
# print(tof1Readings())
ret, frame = video_capture.read()
frame = cv2.flip(frame, 0)
frame = cv2.flip(frame, 1)
width = int(640)
height = int(480)
dimensions = (width, height)
frame = cv2.resize(frame, dimensions, interpolation=cv2.INTER_AREA)
# Convert to grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Gaussian blur
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# Color thresholding
ret, thresh = cv2.threshold(
blur, 150, 255, cv2.THRESH_BINARY
) # For the white line
# Find the contours of the frame
contours, hierarchy = cv2.findContours(
thresh.copy(), 1, cv2.CHAIN_APPROX_NONE
)
if len(contours) > 0:
c = max(contours, key=cv2.contourArea)
M = cv2.moments(c)
try:
cx = int(M["m10"] / M["m00"])
cy = int(M["m01"] / M["m00"])
except:
continue
# PID control
error = 368 - cx
speed = error * kp + (prev_error - error) * kd
prev_error = error
left_speed = base_speed - speed
right_speed = base_speed + speed
if left_speed > 100:
left_speed = 100
elif left_speed < 0:
left_speed = 0
if right_speed > 100:
right_speed = 100
elif right_speed < 0:
right_speed = 0
leftrightMotor_Forward(left_speed, right_speed)
# Drawing the lines
cv2.line(frame, (cx, 0), (cx, 480), (255, 0, 0), 1)
cv2.line(frame, (0, cy), (640, cy), (255, 0, 0), 1)
cv2.drawContours(frame, contours, -1, (0, 255, 0), 1)
cv2.imshow("frame", frame)
cv2.imshow("threshold", thresh)
if cv2.waitKey(10) & 0xFF == ord("q"):
break
else:
pass
print(count)
if sensor_LEFT() == 0 and sensor_RIGHT() == 0:
print("junction detected")
if count == 0:
stop()
turnLeft(40)
sleep(1.95)
stop()
goForward(30)
sleep(1)
stop()
align_robot_a(video_capture)
sleep(1)
count += 1
elif count == 1:
goForward(37)
sleep(1)
stop()
count += 1
elif count == 2:
goForward(30)
sleep(0.4)
stop()
break
if tof1Readings() < 70 and count == 1 and ball_grbbed == False:
# print("near wall")
stop()
gripper_up()
gripper_open()
# while tof1Readings() < 30:
# # print("near ball")
# goForward(25)
# sleep(0.05)
goForward(25)
sleep(0.9)
stop()
gripper_full_close()
# print("ball grabbed")
servo_3_rotate(-40)
goBackward(25)
sleep(0.9)
stop()
turnLeft(40)
sleep(3.9)
stop()
servo_2_rotate(-13)
sleep(0.7)
align_robot_a(video_capture)
ball_grbbed = True
stop()
def counter_align(box_num,video_capture):
counter_set_height(video_capture)
box_abs = abs(box_num)
for i in range(0,box_abs):
while counter_exist(video_capture) == "exist":
if box_num < 0:
turnLeft(25)
else:
turnRight(25)
sleep(0.05)
sleep(0.1)
stop()
print("box behind")
while counter_exist(video_capture) == "notexist":
if box_num < 0:
turnLeft(25)
else:
turnRight(25)
sleep(0.05)
sleep(0.1)
stop()
print("box aligned")
print(i)
# while counter_exist() == "exist":
# if box_num < 0:
# turnLeft(25)
# else:
# turnRight(25)
# sleep(0.05)
stop()
print("box behind")
def counter_set_height(video_capture):
servo_ang = -20
while True:
servo_3_rotate(servo_ang)
ret, frame = video_capture.read()
frame = cv2.flip(frame, 0)
frame = cv2.flip(frame, 1)
width = int(640)
height = int(480)
dimensions = (width, height)
frame = cv2.resize(frame, dimensions, interpolation=cv2.INTER_AREA)
frame = frame[0:480, 140:500]
# Convert to grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Gaussian blur
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# Color thresholding
ret, thresh = cv2.threshold(
blur, 120, 255, cv2.THRESH_BINARY
) # For the white line
# Find the contours of the frame
contours, hierarchy = cv2.findContours(
thresh.copy(), 1, cv2.CHAIN_APPROX_NONE
)
if len(contours) > 0:
c = max(contours, key=cv2.contourArea)
M = cv2.moments(c)
try:
cx = int(M["m10"] / M["m00"])
cy = int(M["m01"] / M["m00"])
except:
continue
print(cy)
if cy > 230:
print(servo_ang)
break
cv2.line(frame, (cx, 0), (cx, 480), (255, 0, 0), 1)
cv2.line(frame, (0, cy), (640, cy), (255, 0, 0), 1)
cv2.drawContours(frame, contours, -1, (0, 255, 0), 1)
if servo_ang > 30:
break
servo_ang += 1
sleep(0.05)
cv2.imshow("frame", frame)
cv2.imshow("threshold", thresh)
if cv2.waitKey(1) & 0xFF == ord("q"):
return None
def counter_exist(video_capture):
ret, frame = video_capture.read()
frame = cv2.flip(frame, 0)
frame = cv2.flip(frame, 1)
width = int(640)
height = int(480)
dimensions = (width, height)
frame = cv2.resize(frame, dimensions, interpolation=cv2.INTER_AREA)
frame = frame[0:480, 200:440]
# Convert to grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Gaussian blur
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# Color thresholding
ret, thresh = cv2.threshold(
blur, 80, 255, cv2.THRESH_BINARY
) # For the white line
# Find the contours of the frame
contours, hierarchy = cv2.findContours(
thresh.copy(), 1, cv2.CHAIN_APPROX_NONE
)
cv2.imshow("frame", frame)
cv2.imshow("threshold", thresh)
if len(contours) > 0:
return "exist"
else:
return "notexist"
# c = max(contours, key=cv2.contourArea)
# M = cv2.moments(c)
# try:
# cx = int(M["m10"] / M["m00"])
# cy = int(M["m01"] / M["m00"])
# except:
# continue
cv2.line(frame, (cx, 0), (cx, 480), (255, 0, 0), 1)
cv2.line(frame, (0, cy), (640, cy), (255, 0, 0), 1)
cv2.drawContours(frame, contours, -1, (0, 255, 0), 1)
if cv2.waitKey(1) & 0xFF == ord("q"):
return None
def shoot_main(gem_count):
align = 0
video_capture = cv2.VideoCapture(0, cv2.CAP_V4L2)
video_capture.set(4, 480) # Set the height of the frame
video_capture.set(3, 640) # Set the width of the frame
video_capture.set(cv2.CAP_PROP_AUTO_EXPOSURE, 1) # manual mode
video_capture.set(cv2.CAP_PROP_EXPOSURE, 280)
reload()
grab_ball(video_capture)
if gem_count == 20:
align = -2
elif gem_count == 30:
align = -1
elif gem_count == 40:
align = 1
elif gem_count == 50:
align = 2
counter_align(align,video_capture)
shoot()
reload()
# counter_set_height()
shoot_main(10)