Treasure Hunt

Arrange a maze in your room and place six different color cards in six corners. Then control PiCrawler to search for these color cards one by one!

Note

You can download and print the PDF Color Cards for color detection.

Run the Code

cd /home/pi/picrawler/examples
sudo python3 treasure_hunt.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

Code

from picrawler import Picrawler
from time import sleep
from robot_hat import Music,TTS
from vilib import Vilib
import sys
import tty
import termios
import random


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()
tts = TTS()

def readchar():
    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)
    try:
        tty.setraw(sys.stdin.fileno())
        ch = sys.stdin.read(1)
    finally:
        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
    return ch


manual = '''
Press keys on keyboard to control Picrawler!
    W: Forward
    A: Turn left
    S: Backward
    D: Turn right
    Space: Say the target again
    ESC: Quit
'''

color = "red"
color_list=["red","orange","yellow","green","blue","purple"]


def renew_color_detect():
    global color
    color = random.choice(color_list)
    Vilib.color_detect(color)
    tts.say("Look for " + color)


def main():
    Vilib.camera_start()
    Vilib.display()
    speed = 100
    print(manual)

    tts.say("game start")
    sleep(0.05)
    renew_color_detect()

    while True:
        if Vilib.detect_obj_parameter['color_n']!=0 and Vilib.detect_obj_parameter['color_w']>100:
            tts.say("will done")
            sleep(0.05)
            renew_color_detect()

        key = readchar()
        if 'w' == key:
            crawler.do_action('forward',1,speed)
        elif 's' == key:
            crawler.do_action('backward',1,speed)
        elif 'a' == key:
            crawler.do_action('turn left',1,speed)
        elif 'd' == key:
            crawler.do_action('turn right',1,speed)
        elif chr(32) == key:
            tts.say("Look for " + color)
        elif chr(27) == key:# 27 for ESC
            break

        sleep(0.05)
    print("\n q Quit")

if __name__ == "__main__":
    main()

How it works?

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

Its flow is shown in the figure below: