forked from pacogarcia3/hta0-horizontal-robot-arm
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathmain_loop.py
169 lines (125 loc) · 6.32 KB
/
main_loop.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
import cv2
import numpy as np
import time
import os
import camera_realworldxyz
from picamera.array import PiRGBArray
from picamera import PiCamera
import commands_arduino
class main_loop:
def __init__(self, serialport='/dev/ttyACM1',x_arm_adj=0,y_arm_adj=0):
#Calibrate Camera XY vs. Arm coordinates XY
#x_camera=x_arm y_camera=y_arm
self.x_arm_adj=2.62 #cam_x Zero Position vs. arm X zero position
self.y_arm_adj=8.85 #cam_y Zero Position vs. arm Y zero positoin
#initialize detection
self.cameraXYZ=camera_realworldxyz.camera_realtimeXYZ()
#initiate arduino
#serialport='/dev/ttyACM1',LOW_Z=-20.5, HOVER_Z=-16.5,DROP_Z=-18.5, MID_Z=-15, HIGH_Z=-6
self.arm_c=commands_arduino.arm_controller(serialport,-20.5,-16.5,-18.5,-15,-6)
def truncate(self, n, decimals=0):
#this function will help round numbers to prepare them to pass into arduino
n=float(n)
multiplier = 10 ** decimals
return int(n * multiplier) / multiplier
def capturefromPiCamera(self, imgdir,prefix="Cap",fullscreen=False,detectXYZ=True, calcXYZ=True, arm=True):
#initiate counters
img_counter=0
bg_counter=0
id_counter=0
#initiate flags
bg_capture=False
move_object=False
arm_move=False
#initiate objects detected
obj_detected=0
obj_detected_prev=0
#move arm to clear the camera vision
if (arm==True): self.arm_c.move_clearcamera()
#initiate camera and window
camera = PiCamera()
camera.resolution = (1280, 720)
camera.framerate = 20
rawCapture = PiRGBArray(camera, size=(1280, 720))
time.sleep(0.2)
win_name="Capture"
if (fullscreen==True):
cv2.namedWindow(win_name, cv2.WND_PROP_FULLSCREEN)
cv2.setWindowProperty(win_name,cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
else:
cv2.namedWindow(win_name)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
#listen for keystrokes
k = cv2.waitKey(1)
image = frame.array
#if your image is flipped, used this command
#image=cv2.flip(image_cap, -1 )
# capture background
if bg_capture==False:
bg_counter+=1
#letting counter reach 52 provides warm up for camera, then capture background
if bg_counter==52:
self.cameraXYZ.load_background(image)
bg_capture=True
print("background captured")
else:
cv2.putText(image,"Warming Up",(20,20),cv2.FONT_HERSHEY_SIMPLEX,0.5,(0,0,255),2)
# with background captured, image detection will now work
if bg_capture==True:
#for the camera to detect the same number of objects for 20 frames, before triggering arm
if id_counter>20:
cv2.putText(image,"Picking",(20,20),cv2.FONT_HERSHEY_SIMPLEX,0.5,(0,255,0),2)
print("Trigger Arm")
#arm flag ensures movement can happen
self.pickanddrop(XYZ,arm)
id_counter=0
#run detection when on
if detectXYZ==True:
obj_detected_prev=obj_detected
image, XYZ = self.cameraXYZ.detect_xyz(image,calcXYZ)
obj_detected=len(XYZ)
#start counter when same number of objects detected between frames
if obj_detected>0 and obj_detected==obj_detected_prev:
id_counter+=1
cv2.putText(image,"Object Detected",(20,20),cv2.FONT_HERSHEY_SIMPLEX,0.5,(255,0,0),2)
if k%256 == 27:
# ESC pressed
print("Exiting...")
break
elif k%256 == 32:
# SPACE pressed Captures an Image
img_name = imgdir + prefix + "_{}.jpg".format(img_counter)
cv2.imwrite(img_name, image)
print(prefix + "_{} written!".format(img_counter))
img_counter += 1
# show the frame
cv2.imshow(win_name, image)
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
if (arm==True): self.arm_c.move_home()
cv2.destroyAllWindows()
def pickanddrop(self, XYZ, arm=True):
#set drop position
arm_x_dest=40
arm_y_dest=0
for i in range(0,len(XYZ)):
cam_x=self.truncate(XYZ[i][0],2) #camera X
cam_y=self.truncate(XYZ[i][1],2) #camera Y
print("Grab Item "+str(i+1)+" at x: "+str(cam_x)+", y: "+str(cam_y))
#adjust the reference of Camera vs. Arm
arm_x=self.truncate(cam_x-self.x_arm_adj,1)
arm_y=self.truncate(self.y_arm_adj-cam_y,1)
if (arm==True): self.arm_c.move_and_pickup(arm_x,arm_y)
if (arm==True): self.arm_c.transport_and_drop(arm_x_dest,arm_y_dest)
if (arm==True): self.arm_c.move_clearcamera()
def test_arm(self):
self.arm_c.test_arm()
def test_arm_XYZ(self,x,y,z):
self.arm_c.move_toXYZ(x,y,z)
def test_arm_clearcamera(self):
self.arm_c.move_clearcamera()
def test_arm_home(self):
self.arm_c.move_home()
def test_arm_home_plane(self):
self.arm_c.move_home_plane()