Merge branch 'demo' into cv

.gitignore

@@ -1,4 +1,5 @@
 venv/
 .idea/
 **/.DS_Store
-**/__pycache__/
+**/__pycache__/
+*.pyc

BaseLibrary/Code/Server/servo.py

@@ -1,5 +1,5 @@
 import time
-from PCA9685 import PCA9685
+from BaseLibrary.Code.Server.PCA9685 import PCA9685
 class Servo:
     def __init__(self):
         self.PwmServo = PCA9685(0x40, debug=True)

ControlsDemo.py

@@ -0,0 +1,23 @@
+from BaseLibrary.Code.Server.Motor import *
+import time
+
+PWM = Motor()
+
+
+try:
+    while True:
+        a = input()
+        if a == 'w':
+            PWM.setMotorModel(1000, 1000, 1000, 1000)
+        elif a == 'a':
+            PWM.setMotorModel(-1900, -1500, 2000, 2000)
+        elif a == 's':
+            PWM.setMotorModel(-1000, -1000, -1000, -1000)
+        elif a == 'd':
+            PWM.setMotorModel(2000, 2000, -2500, -1500)
+        else:
+            PWM.setMotorModel(0, 0, 0, 0)
+
+except KeyboardInterrupt:
+    PWM.setMotorModel(0, 0, 0, 0)
+

Robot.py

@@ -1,15 +1,16 @@
 from BaseLibrary.Code.Server.Motor import*
 from cv.faceDetect import Vision
-from rpi_ws281x import *
-from BaseLibrary.Code.Server.Led import Led
+# from rpi_ws281x import *
+from BaseLibrary.Code.Server.servo import Servo
 import time
 
 cv = Vision()
 PWM = Motor()
-led = Led()
-
+servo = Servo()
 
 try:
+    servo.setServoPwm('0', 90)
+    servo.setServoPwm('1', 120)
     idleCount = 0
     m1i = m2i = m3i = m4i = 0  # Forward/backwards values
     m1t = m2t = m3t = m4t = 0  # Turning Values
@@ -20,14 +21,20 @@
         relativeX = 160 - x - w / 2
         if (x, y, w, h) == (0, 0, 0, 0):
             print("No face detected")
-            
-        if w != 0 and abs(relativeX) >= 20:
-            if relativeX < 0:
+
+        if w != 0 and abs(relativeX) >= 10:
+            if relativeX < -50:
                 print("Turning right")
-                m1t, m2t, m3t, m4t = 600, 600, 0, 0
+                m1t, m2t, m3t, m4t = 1000, 1000, 0, 0
+            elif relativeX > 50:
+                print("Turning left")
+                m1t, m2t, m3t, m4t = 0, 0, 1000, 1000
+            elif relativeX < 0:
+                print("Turning right")
+                m1t, m2t, m3t, m4t = 700, 700, 0, 0
             elif relativeX > 0:
                 print("Turning left")
-                m1t, m2t, m3t, m4t = 0, 0, 600, 600
+                m1t, m2t, m3t, m4t = 0, 0, 700, 700
         else:
             print("No turning")
             m1t = m2t = m3t = m4t = 0
@@ -36,26 +43,22 @@
             # Too close
             print("Going backwards")
             m1i, m2i, m3i, m4i = -600, -600, -600, -600
-            # led.colorWipe(led.strip, Color(255, 0, 0))
             idleCount = 0
         elif 0 < w < 40 and 0 < h < 40:
             # Too far
             print("Going forwards")
             m1i, m2i, m3i, m4i = 600, 600, 600, 600
-            # led.colorWipe(led.strip, Color(0, 255, 0))
             idleCount = 0
-        # elif idleCount < 2:
-        #     print("Idling")
-        #     idleCount += 1
-        #     led.colorWipe(led.strip, Color(255, 255, 255))
+        elif idleCount < 2:
+            print("Idling")
+            idleCount += 1
         else:
             print("No f/b movement")
             m1i, m2i, m3i, m4i = 0, 0, 0, 0
-            # led.colorWipe(led.strip, Color(0, 0, 255))
-
         PWM.setMotorModel(m1t + m1i, m2t + m2i, m3t + m3i, m4t + m4i)
 
 except KeyboardInterrupt:
     PWM.setMotorModel(0, 0, 0, 0)
     cv.destroy()
-    # led.colorWipe(led.strip, Color(0, 0, 0), 10)
+    servo.setServoPwm('0', 90)
+    servo.setServoPwm('1', 90)

cv/faceDetect.py

@@ -48,9 +48,9 @@ def destroy(self):
         ret, img = cap.read()
         # img = cv2.flip(img, -1)
         gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
-        gray = imutils.resize(gray, width=320)
+        gray = imutils.resize(gray, width=360)
         img = imutils.resize(img, width=360)
-        
+
         faces = faceCascade.detectMultiScale(
             gray,
             scaleFactor=1.2,