NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-21 12:49:39 +02:00
parent b8abaee518
commit 2fd874c55d
2 changed files with 15 additions and 0 deletions
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10
estimate_distance.py Normal file
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@ -0,0 +1,10 @@
from robot import Arlo
def main():
arlo = Arlo(False)
image = arlo.robot.take_photo()
bounding_boxes = arlo.find_aruco(image)
arlo.estimate_distance(bounding_boxes[0])
if __name__ == "__main__":
main(9)

5
robot/arlo.py
View File

@ -10,6 +10,8 @@ SLEEP_TIME = 2
FOCAL_LENGTH = 1691 FOCAL_LENGTH = 1691
DEFAULT_CALIBRATION_CODE = "40.40-40.40-40.40_ff-ff-ff-ff"
def test_forward(arlo, l_power, r_power): def test_forward(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 1, 1) arlo.go_diff(l_power, r_power, 1, 1)
@ -55,6 +57,9 @@ class Arlo():
self.robot = Robot() self.robot = Robot()
if calibration_code is None: if calibration_code is None:
self._calibrate() self._calibrate()
elif calibration_code is None:
self.calibration_code = DEFAULT_CALIBRATION_CODE
self._decode_calibration_code()
else: else:
self.calibration_code = calibration_code self.calibration_code = calibration_code
self._decode_calibration_code() self._decode_calibration_code()