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tarck.py
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import time, cv2
from threading import Thread
class track:
def rotate(me, qudrant):
# Primary
if qudrant == 6:
me.rotate_clockwise(20)
elif qudrant == 4:
me.rotate_counter_clockwise(20)
elif qudrant == 8:
me.send_rc_control(0,0,40,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 2:
me.send_rc_control(0,0,-40,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
# Seconday
if qudrant == 7:
me.send_rc_control(0,0,40,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
me.rotate_counter_clockwise(20)
elif qudrant == 9:
me.send_rc_control(0,0,40,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
me.rotate_clockwise(20)
elif qudrant == 1:
me.send_rc_control(0,0,-40,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
me.rotate_counter_clockwise(20)
elif qudrant == 3:
me.send_rc_control(0,0,-40,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
me.rotate_clockwise(20)
def follow(me, qudrant):
# Primary
if qudrant == 6:
me.send_rc_control(20,0,0,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 4:
me.send_rc_control(-20,0,0,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 8:
me.send_rc_control(0,0,20,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 2:
me.send_rc_control(0,0,-20,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
# Secondary
if qudrant == 7:
me.send_rc_control(-20,0,-20,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 9:
me.send_rc_control(20,0,-20,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 1:
me.send_rc_control(-20,0,20,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
elif qudrant == 3:
me.send_rc_control(20,0,20,0)
time.sleep(1)
me.send_rc_control(0,0,0,0)
def sling_shot(me, qudrant):
keepRecording = True
frame_read = me.get_frame_read()
def videoRecorder():
# create a VideoWrite object, recoring to ./video.avi
# 创建一个VideoWrite对象，存储画面至./video.avi
height, width, _ = frame_read.frame.shape
video = cv2.VideoWriter('video.avi', cv2.VideoWriter_fourcc(*'XVID'), 30, (width, height))
while keepRecording:
video.write(frame_read.frame)
time.sleep(1 / 30)
video.release()
# we need to run the recorder in a seperate thread, otherwise blocking options
# would prevent frames from getting added to the video
# 我们需要在另一个线程中记录画面视频文件，否则其他的阻塞操作会阻止画面记录
recorder = Thread(target=videoRecorder)
recorder.start()
while me.get_height() < 150:
me.send_rc_control(0,10,10,0)
me.send_rc_control(0,0,0,0)
while me.get_height() > 50:
me.send_rc_control(0,-10,-10,0)
keepRecording = False
recorder.join()