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feat: 增加扫黑除暴假动作

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bmy
2024-08-06 15:20:46 +08:00
parent 2e6ce3e1f7
commit 25e3b60cd8
5 changed files with 100 additions and 35 deletions
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16
test/test_action.py
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@@ -147,8 +147,8 @@ class LLM_Action:
self.abs_w += math.radians(_time) # 弧度制
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
self.sum_rotate_angle -= _time
speed_time = int(abs(_time) * 7.25)
self.by_cmd.send_angle_omega(30, speed_time)
speed_time = int(abs(_time) * 4.35)
self.by_cmd.send_angle_omega(50, speed_time)
time.sleep(speed_time / 200 + 0.5)
# time.sleep(speed_time / _time / 2)
return True
@@ -156,8 +156,8 @@ class LLM_Action:
self.abs_w -= math.radians(_time) # 弧度制
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
self.sum_rotate_angle += _time
speed_time = int(abs(_time) * 7.25)
self.by_cmd.send_angle_omega(-30, speed_time)
speed_time = int(abs(_time) * 4.35)
self.by_cmd.send_angle_omega(-50, speed_time)
time.sleep(speed_time / 200 + 0.5)
# time.sleep(speed_time / _time / 2)
return True
@@ -167,10 +167,10 @@ class LLM_Action:
def reset(self):
print(f"开始复位：[当前位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)}]")
# 先复位角度
if self.sum_rotate_angle > 0:
self.sum_rotate_angle = self.sum_rotate_angle % 360
else:
self.sum_rotate_angle = -(abs(self.sum_rotate_angle) % 360)
# if self.sum_rotate_angle > 0:
# self.sum_rotate_angle = self.sum_rotate_angle % 360
# else:
# self.sum_rotate_angle = -(abs(self.sum_rotate_angle) % 360)
# if self.sum_rotate_angle > 0:
# # 采用左转回正
# self.go_left_rotate(self.sum_rotate_angle)

9
test/test_filter.py
View File

@@ -25,12 +25,13 @@ filter.switch_camera(1)
# label = tlabel.TPLATFORM
while True:
time.sleep(0.2)
ret, box = filter.get(tlabel.SHELTER)
ret, box = filter.get(tlabel.SIGN)
if ret:
error = (box[0][2] + box[0][0] - 320) / 2
if abs(error) < 30 and abs(box[0][2] - box[0][0]) > 180:
# height = box[0][3] - box[0][1]
logger.error(111)
logger.error(error)
# if abs(error) < 30 and abs(box[0][2] - box[0][0]) > 180:
# # height = box[0][3] - box[0][1]
# logger.error(111)
# label = tlabel.HOSPITAL
# ret, box = filter.get(label)

17
test/test_ocr_camera.py Normal file
View File

@@ -0,0 +1,17 @@
import cv2
import time
cap = cv2.VideoCapture(20)
cap.set(cv2.CAP_PROP_AUTOFOCUS, 0)
cap.set(cv2.CAP_PROP_FOCUS, 280)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
while True:
ret, frame = cap.read()
if ret:
cv2.imshow('src', frame)
time.sleep(0.2)
if cv2.waitKey(25) & 0xFF == ord('q'):
break