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| # --------------------------------------------------------
## Début traitement du but (trouver la balle)
#if balleDetecte:
# if indice_max>29:
# #tourner à droite
# leftSpeed += 0.25 * MAX_SPEED
# rightSpeed -= 0.25 * MAX_SPEED
#elif indice_max<29:
# #tourner à gauche
# leftSpeed -= 0.25 * MAX_SPEED
# rightSpeed += 0.25 * MAX_SPEED
#else:
# leftSpeed -= 0.5* MAX_SPEED
# rightSpeed += 0.5 * MAX_SPEED
# write actuators inputs
leftMotor.setVelocity(leftSpeed)
rightMotor.setVelocity(rightSpeed)
image=camera.getImageArray()
largeurImage = int(camera.getWidth())
hauteurImage = int(camera.getHeight())
#width = camera.getWidth()
#height=camera.getHeight()
#hist=[0]*width
red = np.zeros((largeurImage,hauteurImage))
green = np.zeros((largeurImage,hauteurImage))
blue = np.zeros((largeurImage,hauteurImage))
for x in range(largeurImage):
for y in range(hauteurImage):
red[x][y] = image[x][y][0]
green[x][y] = image[x][y][1]
blue[x][y] = image[x][y][2]
#if (red[x][y])<60 and (green[x][y])>60 and (blue[x][y])<60:
# hist[x]=hist[x]+1 ##### ajout
if x==25 and y==15:
print("red = ", red[x][y])
print("green = ", green[x][y])
print("blue = ", blue[x][y])
print("----------------------------------")
#plt.hist[x]
#pixelVerts = 0
histogrammePixelVert = np.zeros(largeurImage)
for k in range (largeurImage):
pixelVerts=0
for y in range(hauteurImage):
l=np.sqrt(red[k][y]*red[k][y]+green[k][y]*green[k][y]+blue[k][y]*blue[k][y])
teta = np.arccos(blue[k][y]/l)
phi = np.arctan(green[k][y]/red[k][y])
if k==25 and y==15:
print("l = ", l)
print("teta = ", teta)
print("phie = ", phi)
#if red<60 and green>60 and blue<60:
# hist[x]=hist[x]+1
if ((phi>1.0) and (teta>1.0)):
pixelVerts +=1
print("balle verte droit devant")
#print("histooooooooooooooo", hist[x].max)
histogrammePixelVert[k] = pixelVerts
leftMotor.setVelocity(leftSpeed)
rightMotor.setVelocity(rightSpeed)
if max(hist)>0:
balleDetecte=True
indice_max = 0
maxi = 0
for i in range(len(hist)):
if hist[i] >= maxi:
maxi = hist[i]
indice_max = i
print(indice_max)
else:
balleDetecte=False
for j in range (largeurImage):
if hist[j]>7 and hist[j]<28:
leftSpeed = 0.2 * MAX_SPEED
rightSpeed = 0.2 * MAX_SPEED
elif hist[45]>7 or hist[50]>7:#rotation droite
leftSpeed = 0.5 * MAX_SPEED
rightSpeed = -0.2 * MAX_SPEED
elif hist[10]>7 or hist[5]>7:#rotation gauche
leftSpeed = -0.2 * MAX_SPEED
rightSpeed = 0.5 * MAX_SPEED
if hist[25]>=20:
leftSpeed = 0 #arret de la roue gauche
rightSpeed = 0 #arret de la roue droite
leds[0].set(1) #allume les 10 LEDS
leds[1].set(1)
leds[2].set(1)
leds[3].set(1)
leds[4].set(1)
leds[5].set(1)
leds[6].set(1)
leds[7].set(1)
leds[8].set(1)
leds[9].set(1)
pass
#Enter here exit cleanup code. |
