color_dist = ,
'blue': ,
'green': ,
'yellow':,
#'black':,
#'white':,
}color_dist2= ,
'blue': ,
'green': ,
'yellow':,
#'black':,
#'white':,
}
th1 = threading.thread(target=get_image)
th1.setdaemon(true) # 設定為後台執行緒，這裡預設是false，設定為true之後則主線程不用等待子執行緒
th1.start()
cv_color_count = 0
ball_list=
ball_list_color = ['red','blue','green','yellow','black','white']
num_random = 0
circle=
black_first=false
for_red=false
#firstflood()
no_cnts=0
black_radius=0
xiao=0
pwmservo.setservo(1, 1900, 500)
pwmservo.setservo(2, 1500, 500)
while true:
if orgframe is not none and get_image_ok:
get_image_ok=false
print('get image')
cv2.imshow('orgframe', orgframe) #顯示影象
cv2.waitkey(1)
for i in color_dist:
print('enter for')
mask1 = cv2.inrange(picture, color_dist[i]['lower'], color_dist[i]['upper'])
mask2 = cv2.inrange(picture, color_dist2[i]['lower'], color_dist2[i]['upper'])
mask=mask1+mask2
mask = cv2.erode(mask, none, iterations=3)
mask = cv2.dilate(mask, none, iterations=3)
radius=legendary(mask)
if radius >=5: # 半徑大於140才算
xiao=0
black_first=false
print('find contours')
cv_color_count += 1
cv2.imshow('mask',mask)
print('breaklist')
break
else:
xiao+=1
if len(ball_list)==0 or xiao>=3:
xiao=0
print('no_conts')
no_cnts+=1
if no_cnts>3:
no_cnts=0
_,mask=cv2.threshold(picture2,100,255,cv2.thresh_binary_inv)
mask = cv2.erode(mask, none, iterations=4)
mask = cv2.dilate(mask, none, iterations=4)
cv2.imshow('blackmask',mask)
black_radius=legendary(mask)
print('blackradius:')
print(black_radius)
if black_radius>=5:
if black_first:
coor = get_coormain(mask,20,65536)
if coor is none:
num=0
print('num game over')
else:
num=len(coor)
print('num:')
print(num)
print('123')
print(radius)
print(black_radius)
if black_radius<51:
print('地雷區')
keep_parallel()
landmine()
keep_parallel()
elif num==2 and black_radius>50:
print('跨溝壑')
gouhe()
#keep_parallel()
else:
print('there is black,but game over')
black_first=false
else:
print('傻子機械人向前走幾步（準備第二次檢測黑色）')
ssr.running_action_group('walk',1)
black_first=true
else:
print('循線程式')
ssr.running_action_group('walk',1)
#xunxian()
if cv_color_count >= 4:
print('識別3次')
print(ball_list)
cv_color_count = 0
if ball_list[0]==ball_list[1] and ball_list[0]==ball_list[2] and\
ball_list[0]==ball_list[3] :
print('相等')
ball_list_color[num_random]=ball_list[0]
if ball_list_color[num_random]== 'red':
print('向前一步走')
ssr.running_action_group('walk',1)
print('789')
print(radius)
if radius<80 and for_red:
for_red=false
print('踢球進洞')
golf()
ssr.running_action_group('turnleft',5)
ssr.running_action_group('firstwalk', 1)
pwmservo.setservo(1, 1900, 500)
pwmservo.setservo(2, 1500, 500)
time.sleep(1)
elif for_red:
for_red=false
print('過紅色板橋')
#keep_parallel()
ssr.running_action_group('firstwalk', 1)
red_bridge()
for_red=true
elif ball_list_color[num_random] == 'blue':
print('過藍色板橋')
keep_parallel()
ssr.running_action_group('firstwalk', 1)
blue()
elif ball_list_color[num_random] == 'green':
print('過獨木橋')
keep_parallel()
ssr.running_action_group('firstwalk', 1)
greenbridge()
elif ball_list_color[num_random]== 'yellow':
print('過黃色回形坑')
keep_parallel()
ssr.running_action_group('firstwalk', 1)
huixingqiao()
num_random = 0
ball_list =
else:
print('made')
time.sleep(0.2)
cv2.destroyallwindows()
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