movement pyscript.py

import cv2
import sys
#import schedule
import logging as log
import datetime as dt
import time
#import keyboard
from math import atan2
from math import degrees
from gpiozero import Robot
#declaration of variables
degs=0
rads=0
robot = Robot(left=(4, 14), right=(17, 27))
#Face Detection Path
cascPath = "haarcascade_frontalface_default.xml"
faceCascade = cv2.CascadeClassifier(cascPath)
log.basicConfig(filename='webcam.log',level=log.INFO)

#Uncomment if Using inbuilt cam
#video_capture = cv2.VideoCapture(0)
#Uncomment if Using USB cam
video_capture = cv2.VideoCapture(0)
anterior = 0


def prnt():
    print('DEGREES:- ',degs)
    
while True:
    if not video_capture.isOpened():
        print('Unable to load camera.')
        time.sleep(5)
        pass

    # Capture frame-by-frame
    ret, frame = video_capture.read()

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

    faces = faceCascade.detectMultiScale(
        gray,
        scaleFactor=1.1,
        minNeighbors=5,
        minSize=(40, 40)
        
    )

    # Draw a rectangle around the faces
    for (x, y, w, h) in faces:
        cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
        i, j = (x + (x+w)) // 2, (y +(y+h)) // 2
# Draw a circle in the center of rectangle
        cv2.circle(frame, center=(i,j), radius=3, color=(0,0, 255), thickness=1)
        dy = 360-i
        dx= 640-j
        rads = atan2(dy,dx)
        degs = degrees(rads)
        if degs < 0 :
           degs +=90
        degs=round(degs,2)
        degs=str(degs)
    if((4.99>degs>0.0)or(degs>=85)):
        robot.forward(0.5)
        print("FORWARD")
    elif((50.0>degs)and(degs>=5.0)):
        robot.right(0.5)
        print("RIGHT")
    elif((50.0<degs)and (degs<=85.0)):
        robot.left(0.5)
        print("LEFT")
    else :
        robot.stop()
        

    if anterior != len(faces):
        anterior = len(faces)
        #log.info("faces: "+str(len(faces))+" at "+str(dt.datetime.now()))
        log.info("Degree: "+str(degs)+ "\nRadians"+str(rads)+"TIME"+str(dt.datetime.now()))
        

    # Display the resulting frame
    cv2.imshow('Video', frame)


    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

    # Display the resulting frame
    cv2.imshow('Video', frame)
    #schedule.every(2).seconds.do(prnt)
   # print("Degrees:",degs)
    #print("Radians",rads)
    
    

# When everything is done, release the capture
video_capture.release()
cv2.destroyAllWindows()