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Bull Fight¶

Make PiCrawler an angry bull! Use its camera to track and rush the red cloth!

../_images/bullfight.png

Run the Code

cd /home/pi/picrawler/examples
sudo python3 bull_fight.py

View the Image

After the code runs, the terminal will display the following prompt:

No desktop !
* Serving Flask app "vilib.vilib" (lazy loading)
* Environment: production
WARNING: Do not use the development server in a production environment.
Use a production WSGI server instead.
* Debug mode: off
* Running on http://0.0.0.0:9000/ (Press CTRL+C to quit)

Then you can enter http://<your IP>:9000/mjpg in the browser to view the video screen. such as: https://192.168.18.113:9000/mjpg

../_images/display.png

Code

Note

You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.

from picrawler import Picrawler
from time import sleep
from robot_hat import Music
from vilib import Vilib


crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])

music = Music()

def main():
    Vilib.camera_start()
    Vilib.display()
    Vilib.color_detect("red")
    speed = 100

    while True:
        if Vilib.detect_obj_parameter['color_n']!=0:
            coordinate_x = Vilib.detect_obj_parameter['color_x']
            music.sound_effect_threading('./sounds/talk1.wav')

            if coordinate_x < 100:
                crawler.do_action('turn left',1,speed)
                sleep(0.05)
            elif coordinate_x > 220:
                crawler.do_action('turn right',1,speed)
                sleep(0.05)
            else :
                crawler.do_action('forward',2,speed)
                sleep(0.05)
        else :
            crawler.do_step('stand',speed)
            sleep(0.05)


if __name__ == "__main__":
    main()

How it works?

In general, this project combines the knowledge points of Move, Computer Vision and Sound Effect.

Its flow is shown in the figure below:

../_images/bull_fight-f.png