Color recognition test.
This commit is contained in:
d3rped
parent
7bd9ce7582
commit
df9c636b6e
2 changed files with 24 additions and 86 deletions
60
src/move.py
60
src/move.py
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@ -3,7 +3,6 @@
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import ev3dev.ev3 as ev3
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from wheel import Wheel
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from sensor import Sensor
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import time
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class Move:
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@ -11,7 +10,7 @@ class Move:
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try:
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self._wheel_l = Wheel('outB')
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self._wheel_r = Wheel('outC')
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self._sensor = Sensor()
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self._camera = Sensor()
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self._bumper = ev3.TouchSensor()
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except:
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print("ERROR: Cannot find Motor/Sensor")
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@ -29,52 +28,8 @@ class Move:
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# Probably redundant because aligning can be done while scanning other paths
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def _aligntoedge(self):
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'''
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isonedge = False
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alternatingvalue = 2 # value used to switch turning directions using mod 2 hence theres only two possible values when you keep increasing the value
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if(self._sensor.getbrightness() < 24):
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while (not (self._sensor.getbrightness() == 24)):
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self._wheel_l.speed_set(5)
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self._wheel_r.speed_set(-5)
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elif(self._sensor.getbrightness() > 24):
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while (not isonedge):
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if alternatingvalue % 2 == 0:
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isonedge = self._findedgeonrightside(alternatingvalue)
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self._wheel_l.stop()
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self._wheel_r.stop()
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if alternatingvalue % 2 == 1:
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isonedge = self._findedgeonleftside(alternatingvalue)
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self._wheel_l.stop()
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self._wheel_r.stop()
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alternatingvalue = alternatingvalue + 1
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'''
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pass
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'''
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def _findedgeonleftside(self, alternatingvalue):
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i = 0
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while i < alternatingvalue:
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self._wheel_r.speed_set(5)
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self._wheel_l.speed_set(-5)
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if (self._sensor.getbrightness() == 24):
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return True
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i = i + 1
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return False
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def _findedgeonrightside(self, alternatingvalue):
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i = 0
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while i < alternatingvalue:
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self._wheel_l.speed_set(5)
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self._wheel_r.speed_set(-5)
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if (self._sensor.getbrightness() == 24):
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time.sleep(0.05)
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while(not (self._sensor.getbrightness() == 24)):
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self._wheel_l.speed_set(5)
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self._wheel_r.speed_set(-5)
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return True
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i = i + 1
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return False
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'''
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'''
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uses odometry and the planet object to map edges that are connected to
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@ -92,15 +47,14 @@ class Move:
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self._wheel_r.speed_set(24)
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self._wheel_l.run()
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self._wheel_r.run()
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while (not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
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self._wheel_l.speed_set(48 - self._sensor.getbrightness())
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self._wheel_r.speed_set(self._sensor.getbrightness())
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while (self._bumper.value() == False and self._camera.lastcolor == None ):
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self._camera.setmode('COL-REFLECT')
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self._wheel_l.speed_set(48 - self._camera.getbrightness())
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self._wheel_r.speed_set(self._camera.getbrightness())
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self._camera.setmode('RGB-RAW')
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self._camera.getcolor()
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if(isknownstation == False):
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pass # run odometry stuff here
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if (not self._bumper.value()):
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time.sleep(1)
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# self._aligntoedge()
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self._wheel_l.stop()
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self._wheel_r.stop()
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@ -3,21 +3,6 @@
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import ev3dev.ev3 as ev3
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from enum import Enum, unique
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@unique
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class Color(Enum):
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RED = (80, 95, 20, 40, 15, 30)
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BLUE = (10, 25, 60, 80, 70, 90)
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def __init__(self, rmin, rmax, gmin, gmax, bmin, bmax):
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self.rmin = rmin
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self.rmax = rmax
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self.gmin = gmin
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self.gmax = gmax
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self.bmin = bmin
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self.bmax = bmax
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'''
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add enum for color definitions (type should be tupel of int's).
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later onwards compare the idividual readouts like this to determine the color:
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@ -30,31 +15,30 @@ color = (100, 30, 20)
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'''
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class Color(tuple, Enum):
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RED = (90, 40, 25)
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BLUE = (25, 75, 90)
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class Sensor:
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def __init__(self):
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self._sensor = ev3.ColorSensor()
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self._sensor.mode = 'COL-REFLECT'
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self.foundColor = False
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self.lastcolor = None
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def getbrightness(self):
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self._sensor.mode = 'COL-REFLECT'
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if(self._sensor.mode == 'COL-REFLECT'):
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return self._sensor.value()
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def isRed(self):
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self._sensor.mode = 'RGB-RAW'
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r, g, b = self._sensor.bin_data("hhh")
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if(Color.RED.rmin <= r <= Color.RED.rmax and Color.RED.gmin <= g <= Color.RED.gmax and Color.RED.bmin <= b <= Color.RED.bmax):
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return True
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else:
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return False
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print("ERROR: Wrong Sensor Mode.")
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def isBlue(self):
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self._sensor.mode = 'RGB-RAW'
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r, g, b = self._sensor.bin_data("hhh")
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if(Color.BLUE.rmin <= r <= Color.BLUE.rmax and Color.BLUE.gmin <= g <= Color.BLUE.gmax and Color.BLUE.bmin <= b <= Color.BLUE.bmax):
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return True
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else:
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return False
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def getcolor(self):
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if(self._sensor.mode == 'RGB-RAW'):
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RGB = self._sensor.bin_data("hhh")
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if(RGB[0] > Color.RED[0] and (RGB[1], RGB[2]) < (Color.RED[1], Color.RED[2])):
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self.lastcolor = Color.RED
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if(RGB[0] < Color.BLUE[0] and (RGB[1], RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
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self.lastcolor = Color.BLUE
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def setmode(self, newmode):
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self._sensor.mode = newmode
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