shark/item-sort
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small tweaks

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This commit is contained in:
Cole Deck 2020-03-18 17:01:11 -05:00
parent 4eac873412
commit eb479df122
4 changed files with 9 additions and 7 deletions
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__pycache__/detect.cpython-38.pyc
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6
control_motor.py
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@ -29,15 +29,15 @@ def goToBin(bin):
delay = 0.5 + 0.93 * adjustedBin delay = 0.5 + 0.93 * adjustedBin
command = 'G0 X-' command = 'G0 X-'
command += str(distance) command += str(distance)
print("[ INFO ] Sending command to Grbl: " + command)
command += '\n' command += '\n'
ser.write(b'$X\n') ser.write(b'$X\n')
time.sleep(1) time.sleep(0.25)
print("[ INFO ] Sending command to Grbl: " + command)
ser.write(command.encode('utf-8')) ser.write(command.encode('utf-8'))
# s.write("$C\n") # s.write("$C\n")
while True: while True:
grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
print(grbl_out.find('error')) #print(grbl_out.find('error'))
if int(grbl_out.find('error')) >= 0 : if int(grbl_out.find('error')) >= 0 :
print("[ EXIT ] Grbl reported an error.") print("[ EXIT ] Grbl reported an error.")
quit() quit()

6
run_detect.py
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@ -47,6 +47,7 @@ else :
host = '' # Symbolic name meaning all available interfaces host = '' # Symbolic name meaning all available interfaces
port = 9001 # Arbitrary non-privileged port port = 9001 # Arbitrary non-privileged port
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
#s.setsockopt(s, socket.SOL_SOCKET, socket.SO_REUSEADDR) #s.setsockopt(s, socket.SOL_SOCKET, socket.SO_REUSEADDR)
s.bind((host, port)) s.bind((host, port))
print("[ INFO ] TCP stream initialized. Waiting for client...") print("[ INFO ] TCP stream initialized. Waiting for client...")
@ -80,7 +81,8 @@ else :
#print('frame') #print('frame')
if x > 1: if x > 1:
ret,frame = capture.retrieve() ret,frame = capture.retrieve()
frame = frame[130:1120, 275:1350] frame = frame[130:1100, 300:1300]
#frame = frame[170:900, 475:1100]
items,output = detect.detect(calibration_width, frame, True, True) items,output = detect.detect(calibration_width, frame, True, True)
cv2.imshow('Item Sorter', output) cv2.imshow('Item Sorter', output)
x = 0 x = 0
@ -90,7 +92,7 @@ else :
valid = True valid = True
for item in items: for item in items:
if item != itema: if item != itema:
print("[ INFO ] More than one object present.") #print("[ INFO ] More than one object present.")
valid = False valid = False
break break
if valid: if valid:

4
sort.py
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@ -21,8 +21,8 @@ def sort(input):
if bins.count(input) == 0: if bins.count(input) == 0:
bins.append(input) bins.append(input)
bin = bins.index(input) bin = bins.index(input)
print(str(bins)) #print(str(bins))
print(bin) #print(bin)
write(bins) write(bins)
return bin return bin