From ac48afd01a7f84b49626664b97e06f112316f288 Mon Sep 17 00:00:00 2001
From: NikolajDanger <nikolajgade@live.dk>
Date: Wed, 28 Sep 2022 13:31:54 +0200
Subject: [PATCH] :sparkles:

---
 drive_between_arucos.py | 81 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 drive_between_arucos.py

diff --git a/drive_between_arucos.py b/drive_between_arucos.py
new file mode 100644
index 0000000..af75491
--- /dev/null
+++ b/drive_between_arucos.py
@@ -0,0 +1,81 @@
+from time import sleep
+
+import cv2
+import numpy as np
+
+from robot import Robot
+
+POWER = 70
+
+TURN_T = 7.9 # 1 degree
+DRIVE_T = 22 # 1 centimeter
+
+RIGHT_WHEEL_OFFSET = 4
+
+CLOCKWISE_OFFSET = 0.96
+
+FOCAL_LENGTH = 1691
+
+CAMERA_MATRIX = np.array(
+    [[FOCAL_LENGTH,0,512],[0,FOCAL_LENGTH,360],[0,0,1]],
+    dtype=np.float32
+)
+DIST_COEF = np.array([0,0,0,0,0], dtype=np.float32)
+
+def find_aruco(image):
+    aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
+    aruco_params = cv2.aruco.DetectorParameters_create()
+    corners, ids, _ = cv2.aruco.detectMarkers(
+        image,
+        aruco_dict,
+        parameters=aruco_params
+    )
+
+    if corners is None:
+        return []
+
+    return [(box[0], ids[i]) for i, box in enumerate(corners)]
+
+def find_arucos(arlo):
+    aruco_list = []
+
+    while True:
+        arucos = find_aruco(arlo.take_photo())
+        if arucos != []:
+            aruco_list += arucos
+            if len(aruco_list) >= 2:
+                break
+        arlo.go_diff(40, 40, 1, 0)
+        sleep(0.3)
+        arlo.stop()
+
+    return arucos[:2]
+
+def main():
+    arlo = Robot()
+    arucos = find_arucos(arlo)
+
+    aruco_positions = np.array([cv2.aruco.estimatePoseSingleMarkers(
+        np.array([aruco[0]]), 14.5, CAMERA_MATRIX, DIST_COEF
+    )[1][0][0] for aruco in arucos])
+
+    print(aruco_positions)
+
+    # angle = np.rad2deg(np.arctan(position[0]/position[2]))
+    # drive_distance = np.sqrt(position[0]**2 + position[2]**2)
+    # if angle < 0:
+    #     arlo.go_diff(POWER, POWER, 0, 1)
+    #     sleep((abs(angle) * TURN_T)/1000)
+    #     arlo.stop()
+    # else:
+    #     arlo.go_diff(POWER, POWER, 1, 0)
+    #     sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
+    #     arlo.stop()
+
+    # arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
+    # sleep((drive_distance * DRIVE_T)/1000)
+    # arlo.stop()
+
+
+if __name__ == "__main__":
+    main()