Make it actually sort stuff and everything!

control_motor.py

@@ -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)

detect.py

@@ -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:

pi_client.py

@@ -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()

pixel.py

@@ -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()

run_detect.py

@@ -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