add netowrking between pi and laptop, basically add all the components together

control_motor.py

@@ -1,10 +1,29 @@
 import math
+import serial
+import RPi.GPIO as gpio
+import time
+
+ser = serial.Serial('/dev/ttyUSB0', 115200)
+gpio.setmode(gpio.BCM)
+gpio.setup(13, gpio.OUT)
+pwm = gpio.PWM(13, 100)
+pwm.start(5)
 
 def goToBin(bin):
-    if bin % 2 == 0:
-        direction = "right"
-    else:
-        direction = "left"
     adjustedBin = math.floor(bin / 2)
     distance = adjustedBin * 18
-    time = 0.5 + 0.93 * adjustedBin
+    delay = 0.5 + 0.93 * adjustedBin
+    command = 'G0 X'
+    command += distance
+    ser.write(command)
+    time.sleep(delay)
+    if bin % 2 == 0: # tilt to right
+        pwm.ChangeDutyCycle(0)
+        time.sleep(1)
+        pwm.ChangeDutyCycle(20)
+    else:
+        pwm.ChangeDutyCycle(40)
+        time.sleep(1)
+        pwm.ChangeDutyCycle(20)
+    ser.write(b'G0 X0')
+    time.sleep(delay)

pi_client.py

@@ -0,0 +1,25 @@
+import socket
+import sort
+import control_motor
+import control_pixel
+
+host = socket.gethostname()
+port = 9001                   # The same port as used by the server
+s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+s.connect((host, port))
+s.sendall(b'Connected to server!')
+control_pixel.ledOn()
+while True:
+    try:
+        data = s.recv(1024)
+        if not data: break
+        print("Found "+data)
+        selectedBin = sort.sort(data)
+        control_pixel.ledOff()
+        control_motor.goToBin(selectedBin)
+        control_pixel.ledOn()
+        s.sendall(b'Continue')
+    except socket.error:
+        print("Error Occured.")
+        break
+s.close()

pi_receive.py

@@ -0,0 +1,10 @@
+import socket
+
+host = socket.gethostname()
+port = 12345                   # The same port as used by the server
+s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+s.connect((host, port))
+s.sendall(b'Hello, world')
+data = s.recv(1024)
+s.close()
+print('Received', repr(data))

run_detect.py

@@ -3,6 +3,10 @@ import detect
 import sort
 import timeit
 import cv2
+import control_motor
+import socket
+import time
+
 from imutils.video import FPS
 calibration_width = 0.75
 image = "img7.jpg"
@@ -24,7 +28,8 @@ def go():
                     break
             if valid:
                 print("Found " + itema)
-                bin = sort.sort(itema)
+                selectedBin = sort.sort(itema)
+                control_motor.goToBin(selectedBin)
 
 if not video:
 	elapsed_time = timeit.timeit(go, number=1)/1
@@ -33,13 +38,29 @@ if not video:
 else :
     #capture = cv2.VideoCapture('tcpclientsrc port=5001 host=192.168.1.129 ! gdpdepay !  rtph264depay ! avdec_h264 ! videoconvert ! videorate ! video/x-raw,framerate=5/1 ! appsink', cv2.CAP_GSTREAMER)
     capture = cv2.VideoCapture('udpsrc port=9000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! appsink sync=false', cv2.CAP_GSTREAMER)
-    
+    host = ''        # Symbolic name meaning all available interfaces
+    port = 9001     # Arbitrary non-privileged port
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.bind((host, port))
+    s.listen(1)
+    conn, addr = s.accept()
+    print('Connected to', addr)
+    time.sleep(1)
+    waitForPi = True
+    while waitForPi is True:
+        try:
+            data = conn.recv(1024)
+            if not data: break
+            print "Client: "+data
+            waitForPi = False
+        except socket.error:
+            print("Error Occured.")
+            break
     # server command for imx135 camera ./video2stdout | gst-launch-1.0 -v fdsrc ! h264parse !  rtph264pay config-interval=1 pt=96 ! gdppay ! tcpserversink host=192.168.43.152 port=5001
     # server command for udp: ./video2stdout | gst-launch-1.0 -v fdsrc !  h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.43.40 port=9000
-    #ret,frame = capture.read()
-    #detect.detect(calibration_width, "img7.jpg", True, False)
-    #detect.detect(calibration_width, frame, True, True)
     x = 0
+    currentItem = ""
+    samples = 0
     while True:
         ret = capture.grab()
         x+=1
@@ -49,8 +70,45 @@ else :
         #print('frame')
         if x > 1:
             ret,frame = capture.retrieve()
-            list,output = detect.detect(calibration_width, frame, True, True)
+            items,output = detect.detect(calibration_width, frame, True, True)
             cv2.imshow('Item Sorter', output)
             x = 0
+            if "Penny" in items:
+                items.remove("Penny")
+                itema = items[0]
+                valid = True
+                for item in items:
+                    if item != itema:
+                        print("Too many items!")
+                        valid = False
+                        break
+                if valid:
+                    if currentItem == itema:
+                        samples += 1
+                    else:
+                        currentItem = itema
+                        samples = 0
+                    if samples == 5:
+                        samples = 0
+                        sendString(currentItem)
+                        waitForPi = True
+                        while waitForPi is True:
+                            try:
+                                data = conn.recv(1024)
+                                if not data: break
+                                if data == "Continue":
+                                    waitForPi = False
+                            except socket.error:
+                                print("Error Occured.")
+                                break
+                        
         if cv2.waitKey(1)&0xFF == ord('q'):
             break
+
+def sendString(string):
+    print("Found " + string)
+    try:
+        conn.sendall(string)
+    except socket.error:
+        print("Error Occured.")
+        break