Rename main.py to BrightnessRotation.py

BrightnessRotation.py

@@ -0,0 +1,101 @@
+import requests
+import signal
+import webbrowser
+import json
+import time
+from PIL import Image, ImageStat
+from io import BytesIO
+
+IP = "192.168.100.40"
+PARAMS = {'sid' : 'Drive'}
+run = True
+
+def signal_handler(sig, frame):
+    global run
+    print('U pressed Ctrl-C')
+    run = False
+
+
+
+# DEFINE ALL URL's
+
+def set_vel(vel):
+    OMNIDRIVE_URL = "http://" + IP + "/data/omnidrive"
+    r = requests.post(url=OMNIDRIVE_URL, params=PARAMS, json=vel)
+    if r.status_code != requests.codes.ok:
+        raise RuntimeError("Error: post to %s with params %s failed", OMNIDRIVE_URL, PARAMS)
+
+def bumper():
+    BUMPERURL = "http://" + IP + "/data/bumper"
+    r = requests.get(url=BUMPERURL)
+    if r.status_code == requests.codes.ok:
+        data = r.json()
+        return data["value"]
+    else:
+        raise RuntimeError("Error: post to %s with params %s failed", BUMPERURL, PARAMS)
+
+
+def distances():
+    DISTANCE_URL = "http://" + IP + "/data/distancesensorarray"
+    r = requests.get(url=DISTANCE_URL, params=PARAMS)
+    if r.status_code == requests.codes.ok:
+        data = r.json()
+        return data
+
+
+def Camera():
+    CAMURL = "http://" + IP + "/cam0"
+    r = requests.get(url=CAMURL)
+    while r.status_code != requests.codes.ok:
+        r = requests.get(url=CAMURL)
+    img = Image.open(BytesIO(r.content))
+    return img
+
+
+def BrightnessCalc(img):
+   lum = img.convert('L')
+   stat = ImageStat.Stat(lum)
+   return stat.mean[0]
+
+
+def GetImageAndBrightness():
+    vec_to_rotate_left = [0,0, 0.5]
+    vec_to_rotate_right = [0,0, -0.5]
+    
+    image = Camera()
+    width, height = image.size
+    left_image = image.crop((0,0,width/2,height))
+
+    right_image = image.crop((width/2,0,width,height))
+
+
+    Left_Brightness = BrightnessCalc(left_image)
+    print("Left Image Brightness " + str(Left_Brightness))
+
+    Right_Brightness = BrightnessCalc(right_image)
+    print("Right Image Brighness " + str(Right_Brightness))
+
+    if Left_Brightness > Right_Brightness and Left_Brightness - Right_Brightness > 15:
+        print("Left is brighter then Right")
+        set_vel(vec_to_rotate_left) and print("Rotate Left")
+
+    if Right_Brightness > Left_Brightness and Right_Brightness - Left_Brightness > 15:
+        print("Right is brighter then Left")
+        set_vel(vec_to_rotate_right) and print("Rotate Right")
+
+def main():
+    signal.signal(signal.SIGINT, signal_handler)
+
+    try:
+        while False == bumper() and True == run:
+            GetImageAndBrightness()
+            time.sleep(0.3)
+
+            
+    except Exception as e:
+        print(e)
+        return 1
+    return 0
+
+if __name__ == "__main__":
+    main()

WASD.py

@@ -0,0 +1,117 @@
+import requests
+import signal
+import webbrowser
+import json
+import time
+from PIL import Image, ImageStat
+from io import BytesIO
+import keyboard
+
+IP = "192.168.100.40"
+PARAMS = {'sid' : 'Drive'}
+run = True
+
+def signal_handler(sig, frame):
+    global run
+    print('U pressed Ctrl-C')
+    run = False
+
+
+
+# DEFINE ALL URL's
+
+def set_vel(vel):
+    OMNIDRIVE_URL = "http://" + IP + "/data/omnidrive"
+    r = requests.post(url=OMNIDRIVE_URL, params=PARAMS, json=vel)
+    if r.status_code != requests.codes.ok:
+        raise RuntimeError("Error: post to %s with params %s failed", OMNIDRIVE_URL, PARAMS)
+
+def bumper():
+    BUMPERURL = "http://" + IP + "/data/bumper"
+    r = requests.get(url=BUMPERURL)
+    if r.status_code == requests.codes.ok:
+        data = r.json()
+        return data["value"]
+    else:
+        raise RuntimeError("Error: post to %s with params %s failed", BUMPERURL, PARAMS)
+
+
+def distances():
+    DISTANCE_URL = "http://" + IP + "/data/distancesensorarray"
+    r = requests.get(url=DISTANCE_URL, params=PARAMS)
+    if r.status_code == requests.codes.ok:
+        data = r.json()
+        return data
+
+
+def Camera():
+    CAMURL = "http://" + IP + "/cam0"
+    r = requests.get(url=CAMURL)
+    while r.status_code != requests.codes.ok:
+        r = requests.get(url=CAMURL)
+    img = Image.open(BytesIO(r.content))
+    return img
+
+def OdometryGet():
+    ODOURL = "http://" + IP + "/data/odometry"
+    r = requests.get(url=ODOURL)
+    if r.status_code == requests.codes.ok:
+        data = r.json()
+        return [round(data[0], 1), round(data[1], 1)]
+    else:                
+        raise RuntimeError("Error: post to %s with params %s failed", ODOURL, PARAMS)
+
+
+def InputKeyboard():
+    while keyboard.is_pressed('w'):
+        set_vel([2, 0, 0])
+
+    while keyboard.is_pressed('a'):
+        set_vel([0, 2, 0])
+
+    while keyboard.is_pressed('s'):
+        set_vel([-2, 0, 0])
+
+    while keyboard.is_pressed('d'):
+        set_vel([0, -2, 0])
+
+    while keyboard.is_pressed('e'):
+        set_vel([0.2, 2, 0])
+
+    while keyboard.is_pressed('r'):
+        set_vel([0.2, -2, 0])
+
+    while keyboard.is_pressed('f'):
+        set_vel([-2, 2, 0])
+
+    while keyboard.is_pressed('g'):
+        set_vel([-2, -2, 0])
+
+
+    while keyboard.is_pressed('y'):
+        set_vel([0,0,3])
+
+    while keyboard.is_pressed('x'):
+        set_vel([0,0,-3])
+
+
+    set_vel([0, 0, 0])
+
+
+def main():
+    signal.signal(signal.SIGINT, signal_handler)
+
+    try:
+        while False == bumper() and True == run:
+            
+            InputKeyboard()
+            time.sleep(0.3)
+
+            
+    except Exception as e:
+        print(e)
+        return 1
+    return 0
+
+if __name__ == "__main__":
+    main()