add input code

control_motor.py

@@ -68,4 +68,10 @@ def goToBin(bin):
             if verbose: print('[ INFO ] Grbl message: ',grbl_out)
             break
     print("[ INFO ] Waiting for " + str(delay) + " seconds.")
-    time.sleep(delay)
+    time.sleep(delay)
+def stopInput():
+    command = str(0x85)    
+    command += '\n'
+    ser.write(command.encode('utf-8'))
+def startInput():
+    ser.write(b'$J=G91 Y-5000 F400\n')

detect.py

@@ -176,7 +176,7 @@ def detect(calibration_width, img_file, show, quick):
             """
     pixelsPerMetric = 25
     orig = image.copy()
-    objtype = "Unknown"
+    objtype = "Object"
     objname = ""
     # loop over the contours individually
     for c in cnts:
@@ -224,7 +224,7 @@ def detect(calibration_width, img_file, show, quick):
         else:
             circular = True
             cv2.circle(orig, (int(x), int(y)), int(radius), (255, 0, 0), 2)
-        objtype = "Unknown"
+        objtype = "Object"
         itemw = larger(dimA, dimB)
         itemwr = itemw
         itemwr *= 8
@@ -306,7 +306,7 @@ def detect(calibration_width, img_file, show, quick):
         #	0.65, (255, 255, 255), 2)
         if objtype != "Penny":
             objtype = magicSort(c)
-        if objtype == "Unknown":
+        if objtype == "Object":
             objtype = magicSort(c)
             output = "{:.2f}in".format(itemw) + " x {:.2f}in".format(itemh)
         if circular:
@@ -355,7 +355,7 @@ def magicSort(contour):
     #humoments[6] = abs(humoments[6]) #it's possible for the last number to change sign if item is mirrored
     #magicNumber1 = 0
     #magicNumber2 = 0
-    name = "Unknown"
+    name = "Object"
     for i in range(0,7):
         if humoments[i] == 0:
             humoments[i] = 0.1;

pi_client.py

@@ -15,12 +15,17 @@ while True:
         data = s.recv(1024)
         #control_pixel.ledOn()
         if not data: break
-        print("[ INFO ] Item name: "+ str(data)[2:len(str(data))-1])
-        selectedBin = sort.sort(str(data)[2:len(str(data))-1])
-        control_pixel.ledOff()
-        control_motor.goToBin(selectedBin)
-        control_pixel.ledOn()
-        s.sendall(b'Continue')
+        if str(data)[2:8] == "Pause ":
+            control_motor.stopInput()
+        elif str(data)[2:8] == "Intake":
+            control_motor.startInput()
+        elif str(data)[2:8] == "Object":
+            print("[ INFO ] Item name: "+ str(data)[2:len(str(data))-1])
+            selectedBin = sort.sort(str(data)[2:len(str(data))-1])
+            control_pixel.ledOff()
+            control_motor.goToBin(selectedBin)
+            control_pixel.ledOn()
+            s.sendall(b'Continue')
     except socket.error:
         print("[ EXIT ] Socket connection error.")
         break

run_detect.py

@@ -88,6 +88,7 @@ else :
             x = 0
             if len(items) > 0:
                 #items.remove("Penny")
+                sendString("Pause ")
                 itema = items[0]
                 valid = True
                 for item in items:
@@ -97,11 +98,11 @@ else :
                         break
                 if valid:
                     if currentItem == itema:
-                        samples += 1
+                        samples += 2
                     else:
                         currentItem = itema
                         samples = 0
-                    if samples == 5:
+                    if samples >= 10:
                         samples = 0
                         capture.release()
                         sendString(currentItem)
@@ -118,7 +119,11 @@ else :
                             except socket.error:
                                 print("[ EXIT ] Socket connection error.")
                                 break
-                        
+            else:
+                if samples > 0:
+                    samples -= 1
+                if samples == 0:
+                    sendString("Intake")
         if cv2.waitKey(1)&0xFF == ord('q'):
             print("[ EXIT ] Shutting down.")
             s.shutdown(1)