shark/item-sort
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Make it actually sort stuff and everything!

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This commit is contained in:
Cole Deck 2020-03-05 09:24:48 -06:00
parent 4f59cc07d5
commit 830a8e7727
9 changed files with 44 additions and 34 deletions
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Item Sorter_screenshot_08.01.2020-1.png
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Item Sorter_screenshot_08.01.2020-2.png
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__pycache__/detect.cpython-38.pyc
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51
control_motor.py
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@ -7,11 +7,11 @@ ser = serial.Serial('/dev/ttyUSB0', 115200)
gpio.setmode(gpio.BCM)
gpio.setup(13, gpio.OUT)
pwm = gpio.PWM(13, 100)
pwm.start(5)
pwm.start(13)
verbose = True
print("Initializing Grbl...")
ser.write("\r\n\r\n")
ser.write(b'\r\n\r\n')
time.sleep(2)
ser.write(b'$RST=#\n')
time.sleep(1)
@ -21,37 +21,42 @@ def goToBin(bin):
adjustedBin = math.floor(bin / 2)
distance = adjustedBin * 18
delay = 0.5 + 0.93 * adjustedBin
command = 'G0 -X'
command += distance
command = 'G0 X-'
command += str(distance)
command += '\n'
ser.write(b'$X\n')
time.sleep(1)
print(command)
ser.write(command.encode('utf-8'))
# s.write("$C\n")
while True:
grbl_out = s.readline().strip() # Wait for grbl response with carriage return
if grbl_out.find('error') >= 0 :
print "REC:",grbl_out
print " Grbl reported error!"
grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
print(grbl_out.find('error'))
if int(grbl_out.find('error')) >= 0 :
print("REC:",grbl_out)
print(" Grbl reported error!")
quit()
elif grbl_out.find('ok') >= 0 :
if verbose: print 'REC:',grbl_out
elif int(grbl_out.find('ok')) >= 0 :
if verbose: print('REC:',grbl_out)
break
# time.sleep(delay)
if bin % 2 == 0: # tilt to right
pwm.ChangeDutyCycle(0)
time.sleep(delay)
if bin % 2 == 0: # tilt to left
pwm.ChangeDutyCycle(5)
time.sleep(1)
pwm.ChangeDutyCycle(20)
pwm.ChangeDutyCycle(14)
else:
pwm.ChangeDutyCycle(40)
pwm.ChangeDutyCycle(25)
time.sleep(1)
pwm.ChangeDutyCycle(20)
pwm.ChangeDutyCycle(13)
time.sleep(1)
ser.write(b'G0 X0\n')
while True:
grbl_out = s.readline().strip() # Wait for grbl response with carriage return
if grbl_out.find('error') >= 0 :
print "REC:",grbl_out
print " Grbl reported error!"
grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
if int(grbl_out.find('error')) >= 0 :
print("REC:",grbl_out)
print(" Grbl reported error!")
quit()
elif grbl_out.find('ok') >= 0 :
if verbose: print 'REC:',grbl_out
elif int(grbl_out.find('ok')) >= 0 :
if verbose: print('REC:',grbl_out)
break
#time.sleep(delay)
time.sleep(delay)

2
detect.py
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@ -89,7 +89,7 @@ def detect(calibration_width, img_file, show, quick):
image = cv2.imread(img_file)
#image = img_file.copy()
image = cv2.resize(image, (floor(image.shape[1]*0.5), floor(image.shape[0]*0.5)))
image = cv2.resize(image, (math.floor(image.shape[1]*0.5), math.floor(image.shape[0]*0.5)))
#image = cv2.resize(image, (1000, int(image.shape[0]/image.shape[1] * 1000)), interpolation=cv2.INTER_NEAREST)
if show and not quick:

8
pi_client.py
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@ -3,18 +3,20 @@ import sort
import control_motor
import control_pixel
host = 192.168.1.3 # socket.gethostname()
host = "192.168.1.248" # 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:
control_pixel.ledOn()
try:
data = s.recv(1024)
#control_pixel.ledOn()
if not data: break
print("Found "+data)
selectedBin = sort.sort(data)
print("Found "+str(data))
selectedBin = sort.sort(str(data)[2:len(str(data))-1])
control_pixel.ledOff()
control_motor.goToBin(selectedBin)
control_pixel.ledOn()

8
pixel.py
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@ -1,6 +1,6 @@
import time
import pixel_control
pixel_control.ledOn()
import control_pixel
control_pixel.ledOn()
time.sleep(10)
pixel_control.ledOff()
pixel_control.ledOff()
control_pixel.ledOff()
control_pixel.ledOff()

9
run_detect.py
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@ -80,11 +80,11 @@ else :
#print('frame')
if x > 1:
ret,frame = capture.retrieve()
frame = frame[130:1000, 450:1475]
frame = frame[130:1120, 275:1350]
items,output = detect.detect(calibration_width, frame, True, True)
cv2.imshow('Item Sorter', output)
x = 0
if "Penny" in items:
if "Penny" in items and len(items) > 1:
items.remove("Penny")
itema = items[0]
valid = True
@ -101,14 +101,17 @@ else :
samples = 0
if samples == 5:
samples = 0
capture.release()
sendString(currentItem)
waitForPi = True
while waitForPi is True:
try:
data = conn.recv(1024)
if not data: break
if data == "Continue":
print(str(data))
if str(data) == "b'Continue'":
waitForPi = False
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)
except socket.error:
print("Error Occured.")
break