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

This commit is contained in:
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
View File

@ -12,7 +12,7 @@ class Move:
self._wheel_r = Wheel('outC') self._wheel_r = Wheel('outC')
self._camera = Sensor() self._camera = Sensor()
self._bumper = ev3.TouchSensor() self._bumper = ev3.TouchSensor()
except: except OSError:
print("ERROR: Cannot find Motor/Sensor") print("ERROR: Cannot find Motor/Sensor")
''' '''
@ -30,7 +30,6 @@ class Move:
def _aligntoedge(self): def _aligntoedge(self):
pass pass
''' '''
uses odometry and the planet object to map edges that are connected to uses odometry and the planet object to map edges that are connected to
current node. current node.
@ -47,11 +46,10 @@ class Move:
self._wheel_r.speed_set(24) self._wheel_r.speed_set(24)
self._wheel_l.run() self._wheel_l.run()
self._wheel_r.run() self._wheel_r.run()
while (self._bumper.value() == False and self._camera.lastcolor == None ): while (self._bumper.value() == False and self._camera.lastcolor == None):
self._camera.setmode('COL-REFLECT') self._camera.refresh()
self._wheel_l.speed_set(48 - self._camera.getbrightness()) self._wheel_l.speed_set((60 - (self._camera.getbrightness()/5))/1.5)
self._wheel_r.speed_set(self._camera.getbrightness()) self._wheel_r.speed_set((self._camera.getbrightness()/5)/1.5)
self._camera.setmode('RGB-RAW')
self._camera.getcolor() self._camera.getcolor()
if(isknownstation == False): if(isknownstation == False):
pass # run odometry stuff here 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)) (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): class Color(tuple, Enum):
RED = (90, 40, 25) RED = (90, 40, 25)
@ -23,21 +31,26 @@ class Color(tuple, Enum):
class Sensor: class Sensor:
def __init__(self): def __init__(self):
self._sensor = ev3.ColorSensor() self._sensor = ev3.ColorSensor()
self._sensor.mode = 'COL-REFLECT' self._sensor.mode = 'RGB-RAW'
self.RGB = self._sensor.bin_data("hhh")
self.lastcolor = None self.lastcolor = None
def refresh(self):
self.RGB = self._sensor.bin_data("hhh")
def getbrightness(self): def getbrightness(self):
if(self._sensor.mode == 'COL-REFLECT'): # if(self._sensor.mode == 'COL-REFLECT'):
return self._sensor.value() 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: else:
print("ERROR: Wrong Sensor Mode.") print("ERROR: Wrong Sensor Mode.")
def getcolor(self): def getcolor(self):
if(self._sensor.mode == 'RGB-RAW'): if(self._sensor.mode == 'RGB-RAW'):
RGB = self._sensor.bin_data("hhh") if(self.RGB[0] > Color.RED[0] and (self.RGB[1], self.RGB[2]) < (Color.RED[1], Color.RED[2])):
if(RGB[0] > Color.RED[0] and (RGB[1], RGB[2]) < (Color.RED[1], Color.RED[2])):
self.lastcolor = Color.RED 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 self.lastcolor = Color.BLUE
def setmode(self, newmode): def setmode(self, newmode):