BrightnessRotation.py

@@ -1,101 +0,0 @@
-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

@@ -1,117 +0,0 @@
-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()