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OpenMV H7: avoid crash when blue goal isn't in sight

pull/1/head
EmaMaker 2021-04-14 15:00:59 +02:00
parent 686c35b85f
commit 5197fa0895
1 changed files with 39 additions and 6 deletions
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45
utility/OpenMV/conic_eff_h7.py
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@ -45,8 +45,9 @@ blue_led.on()
############################################################################## ##############################################################################
thresholds = [ (41, 68, 0, 30, 42, 103), # thresholds yellow goal thresholds = [ (48, 73, -15, 15, 29, 79), # thresholds yellow goal
(30, 50, -16, 12, -53, -15)] # thresholds blue goal (6, 31, -15, 4, -35, 0) (12, 43, -15, 15, -41, -9)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
roi = (50,5,250, 230) roi = (50,5,250, 230)
@ -71,7 +72,7 @@ sensor.set_contrast(0)
sensor.set_saturation(3) sensor.set_saturation(3)
sensor.set_brightness(1) sensor.set_brightness(1)
sensor.set_auto_whitebal(True) sensor.set_auto_whitebal(True)
sensor.set_auto_exposure(False, 2500) sensor.set_auto_exposure(False, 6576)
sensor.set_auto_gain(True) sensor.set_auto_gain(True)
sensor.skip_frames(time = 300) sensor.skip_frames(time = 300)
@ -82,6 +83,8 @@ clock = time.clock()
while(True): while(True):
clock.tick() clock.tick()
print("Exposure: " + str(sensor.get_exposure_us()) + " Gain: " + str(sensor.get_gain_db()) + "White Bal: " + str(sensor.get_rgb_gain_db()))
blue_led.off() blue_led.off()
y_found = False y_found = False
@ -151,11 +154,33 @@ while(True):
s_bcx = b_cx s_bcx = b_cx
s_bcy = b_cy s_bcy = b_cy
index = 1 if b_found == True:
for i in range(nb-1, 0,-1):
b_area, b1_cx, b1_cy, b_code = tt_blue[i]
if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))):
img.draw_cross(b1_cx, b1_cy)
b_cx = int(b1_cy - img.height() / 2)
b_cy = int(img.width() / 2 - b1_cx)
#print("before :" + str(b_cx) + " " + str(b_cy))
b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
#print("after :" + str(b_cx) + " " + str(b_cy))
#Prepare for send as a list of characters
s_bcx = chr(b_cx)
s_bcy = chr(b_cy)
'''index = 1
if b_found == True: if b_found == True:
while nb-index >= 0: while nb-index >= 0:
b_area, b1_cx, b1_cy, b_code = tt_blue[nb-index] b_area, b1_cx, b1_cy, b_code = tt_blue[nb-index]
index += 1
# If the two blobs are on opposide side of the field, everything is good # If the two blobs are on opposide side of the field, everything is good
if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))): if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))):
@ -164,17 +189,25 @@ while(True):
b_cx = int(b1_cy - img.height() / 2) b_cx = int(b1_cy - img.height() / 2)
b_cy = int(img.width() / 2 - b1_cx) b_cy = int(img.width() / 2 - b1_cx)
print("before :" + str(b_cx) + " " + str(b_cy))
b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0) b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100) b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
print("after :" + str(b_cx) + " " + str(b_cy))
#Prepare for send as a list of characters #Prepare for send as a list of characters
s_bcx = chr(b_cx) s_bcx = chr(b_cx)
s_bcy = chr(b_cy) s_bcy = chr(b_cy)
break break
index += 1 else:
b_cx = BYTE_UNKNOWN
b_cy = BYTE_UNKNOWN
#Prepare for send as a list of characters
s_bcx = b_cx
s_bcy = b_cy'''
print(str(y_cx) + " | " + str(y_cy) + " --- " + str(b_cx) + " | " + str(b_cy)) #print(str(y_cx) + " | " + str(y_cy) + " --- " + str(b_cx) + " | " + str(b_cy))
uart.write(START_BYTE) uart.write(START_BYTE)
uart.write(s_bcx) uart.write(s_bcx)