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Commit a82205c1 authored by ft-Demo's avatar ft-Demo
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commit by robo pro coding

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lib/camera.py
+ 2
− 2
View file @ a82205c1
......@@ -17,9 +17,9 @@ TXT_M_USB_1_camera.add_blocked_area(blocked_area_right)
blocked_area_left = txt_factory.camera_factory.create_blocked_area(0, 190, 80, 50)
TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [245,194,79], 25)
ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [182,142,47], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [192,57,54], 25)
ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [157,31,43], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_left)
lib/camera.xml
+ 1
− 1
View file @ a82205c1
<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#ff8f51</color><tolerance>10</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#f5c24f</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#c03936</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#ff8f51</color><tolerance>10</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#b68e2f</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#9d1f2b</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
lib/display.qml
+ 3
− 3
View file @ a82205c1
......@@ -49,7 +49,7 @@ TXTWindow {
elide: Text.ElideRight
x: 20
y: 40
width: 39
width: 40
height: 40
}
TXTLabel {
......@@ -58,8 +58,8 @@ TXTWindow {
font.pixelSize: 16
elide: Text.ElideRight
x: 20
y: 99
width: 39
y: 100
width: 40
height: 40
}
}
lib/display.xml
+ 1
− 1
View file @ a82205c1
<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>false</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>39</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>99</y><width>39</width><height>40</height></geometry></item></xml>
\ No newline at end of file
<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>false</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>100</y><width>40</width><height>40</height></geometry></item></xml>
\ No newline at end of file
omniwheels_x4_soccer_goal.blockly
+ 333
− 333
View file @ a82205c1
This diff is collapsed.
omniwheels_x4_soccer_goal.py
+ 39
− 39
View file @ a82205c1
......@@ -67,6 +67,45 @@ def ball_callback23(event):
ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
def shotBall():
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M1_encodermotor.set_distance(int(100), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
time.sleep(0.05)
TXT_M_S1_servomotor.set_position(int(256))
while True:
if (not TXT_M_M1_encodermotor.is_running()):
break
time.sleep(0.010)
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M1_encodermotor.set_distance(int(40), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
while True:
if (not TXT_M_M1_encodermotor.is_running()):
break
time.sleep(0.010)
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
while True:
if (not (TXT_M.get_loudspeaker().is_playing())):
break
time.sleep(0.010)
def fwd_v(v):
global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
......@@ -196,45 +235,6 @@ def turnRight():
left(512, 100)
def callback(event):
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
def shotBall():
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M1_encodermotor.set_distance(int(100), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
time.sleep(0.05)
TXT_M_S1_servomotor.set_position(int(256))
while True:
if (not TXT_M_M1_encodermotor.is_running()):
break
time.sleep(0.010)
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M1_encodermotor.set_distance(int(40), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
while True:
if (not TXT_M_M1_encodermotor.is_running()):
break
time.sleep(0.010)
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
while True:
if (not (TXT_M.get_loudspeaker().is_playing())):
break
time.sleep(0.010)
factor_x = 0.2
factor_y = 3.5
speed_y = 300
......
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