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Switched to RGB-RAW with greyscale calculation. Sensor mode switching was too slow.

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d3rped 2018-03-22 07:09:30 +01:00
parent 6d26c4ced9
commit 94885dee1f
2 changed files with 24 additions and 13 deletions
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12
src/move.py
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@ -12,7 +12,7 @@ class Move:
self._wheel_r = Wheel('outC')
self._camera = Sensor()
self._bumper = ev3.TouchSensor()
except:
except OSError:
print("ERROR: Cannot find Motor/Sensor")
'''
@ -30,7 +30,6 @@ class Move:
def _aligntoedge(self):
pass
'''
uses odometry and the planet object to map edges that are connected to
current node.
@ -47,11 +46,10 @@ class Move:
self._wheel_r.speed_set(24)
self._wheel_l.run()
self._wheel_r.run()
while (self._bumper.value() == False and self._camera.lastcolor == None ):
self._camera.setmode('COL-REFLECT')
self._wheel_l.speed_set(48 - self._camera.getbrightness())
self._wheel_r.speed_set(self._camera.getbrightness())
self._camera.setmode('RGB-RAW')
while (self._bumper.value() == False and self._camera.lastcolor == None):
self._camera.refresh()
self._wheel_l.speed_set((60 - (self._camera.getbrightness()/5))/1.5)
self._wheel_r.speed_set((self._camera.getbrightness()/5)/1.5)
self._camera.getcolor()
if(isknownstation == False):
pass # run odometry stuff here

25
src/sensor.py
View file

@ -14,6 +14,14 @@ color = (100, 30, 20)
(color[0] > 90 and (color[1], color[2]) < (40, 25))
'''
'''
Calculate brightness/to greyscale from RGB:
http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5445596
https://en.wikipedia.org/wiki/YUV
Formula:
Y=(0.299 x R) + (0.587 x G) + (0.114 x B);
'''
class Color(tuple, Enum):
RED = (90, 40, 25)
@ -23,21 +31,26 @@ class Color(tuple, Enum):
class Sensor:
def __init__(self):
self._sensor = ev3.ColorSensor()
self._sensor.mode = 'COL-REFLECT'
self._sensor.mode = 'RGB-RAW'
self.RGB = self._sensor.bin_data("hhh")
self.lastcolor = None
def refresh(self):
self.RGB = self._sensor.bin_data("hhh")
def getbrightness(self):
if(self._sensor.mode == 'COL-REFLECT'):
return self._sensor.value()
# if(self._sensor.mode == 'COL-REFLECT'):
if(self._sensor.mode == 'RGB-RAW'):
return ((0.299 * self.RGB[0]) + (0.587 * self.RGB[1]) + (0.114 * self.RGB[2]))
# return self._sensor.value()
else:
print("ERROR: Wrong Sensor Mode.")
def getcolor(self):
if(self._sensor.mode == 'RGB-RAW'):
RGB = self._sensor.bin_data("hhh")
if(RGB[0] > Color.RED[0] and (RGB[1], RGB[2]) < (Color.RED[1], Color.RED[2])):
if(self.RGB[0] > Color.RED[0] and (self.RGB[1], self.RGB[2]) < (Color.RED[1], Color.RED[2])):
self.lastcolor = Color.RED
if(RGB[0] < Color.BLUE[0] and (RGB[1], RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
self.lastcolor = Color.BLUE
def setmode(self, newmode):