Notes

# import the necessary packages
from picamera.array import PiRGBArray
from picamera import PiCamera
import RPi.GPIO as GPIO
import time
import cv2
import numpy as np



MOTOR1B=17 #Left Motor
MOTOR1E=18

MOTOR2B=22 #Right Motor
MOTOR2E=23

centerx=80
centery=64

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

GPIO.setup(MOTOR1B, GPIO.OUT)
GPIO.setup(MOTOR1E, GPIO.OUT)

GPIO.setup(MOTOR2B, GPIO.OUT)
GPIO.setup(MOTOR2E, GPIO.OUT)

#alt ve üst threshold sınırları 2 adet 1x3 olarak veya 1 adet 1x3 olarak verilebilir.
#gece doğal sarı ışık altında
#lowerhsv=np.array([50,30,30])
#upperhsv=np.array([75,240,240])

#gündüz doğal ışıkta
lowerhsv=np.array([41,30,30])
upperhsv=np.array([75,240,240])

#gece doğal sarı ışık altında
#lowerycr=np.array([62,46,71]) 147, 112, 114
#upperycr=np.array([159,88,129]) 72, 98, 112

#gündüz doğal ışıkta
lowerycr=np.array([53, 62, 27])
upperycr=np.array([133, 142, 107])

kernelOpen = np.ones((8,8),np.uint8)
kernelClose = np.ones((5,5),np.uint8)

def forward():
GPIO.output(MOTOR1B, GPIO.HIGH)
GPIO.output(MOTOR1E, GPIO.LOW)
GPIO.output(MOTOR2B, GPIO.HIGH)
GPIO.output(MOTOR2E, GPIO.LOW)

def reverse():
GPIO.output(MOTOR1B, GPIO.LOW)
GPIO.output(MOTOR1E, GPIO.HIGH)
GPIO.output(MOTOR2B, GPIO.LOW)
GPIO.output(MOTOR2E, GPIO.HIGH)

def rightturn():
GPIO.output(MOTOR1B,GPIO.LOW)
GPIO.output(MOTOR1E,GPIO.HIGH)
GPIO.output(MOTOR2B,GPIO.HIGH)
GPIO.output(MOTOR2E,GPIO.LOW)

def leftturn():
GPIO.output(MOTOR1B,GPIO.HIGH)
GPIO.output(MOTOR1E,GPIO.LOW)
GPIO.output(MOTOR2B,GPIO.LOW)
GPIO.output(MOTOR2E,GPIO.HIGH)

def stop():
GPIO.output(MOTOR1E,GPIO.LOW)
GPIO.output(MOTOR1B,GPIO.LOW)
GPIO.output(MOTOR2E,GPIO.LOW)
GPIO.output(MOTOR2B,GPIO.LOW)


camera = PiCamera()
camera.resolution = (160, 128)
camera.framerate = 16
rawCapture = PiRGBArray(camera, size=(160, 128))

time.sleep(0.001)



for image in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
img = image.array
horizontal_img = cv2.flip( img, 0 )
hsvimg= cv2.cvtColor(img,cv2.COLOR_BGR2HSV)
hsvimgfiltered= cv2.GaussianBlur(hsvimg,(5,5),0)
maskhsv=cv2.inRange(hsvimg,lowerhsv,upperhsv)
maskOpenhsv=cv2.morphologyEx(maskhsv,cv2.MORPH_OPEN,kernelOpen)
maskClosehsv=cv2.morphologyEx(maskOpenhsv,cv2.MORPH_CLOSE,kernelClose)
cv2.imshow("hsvmask", maskClosehsv)

ycrimg= cv2.cvtColor(img,cv2.COLOR_BGR2YCrCb)
ycrimgfiltered= cv2.GaussianBlur(ycrimg,(5,5),0)
maskycr=cv2.inRange(ycrimg,lowerycr,upperycr)
maskOpenycr=cv2.morphologyEx(maskycr,cv2.MORPH_OPEN,kernelOpen)
maskCloseycr=cv2.morphologyEx(maskOpenycr,cv2.MORPH_CLOSE,kernelClose)
cv2.imshow("ycrmask", maskCloseycr)

combine = cv2.bitwise_and(maskClosehsv, maskClosehsv, mask = maskCloseycr)
cv2.imshow("combine", combine)
_, contours, hierarchy=cv2.findContours(combine.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
cv2.line(img,(80,0),(80,128),(0,255,0), 1)
cv2.line(img,(0,64),(160,64),(0,255,0),1)
cv2.circle(img, (centerx, centery), 2, (0, 0, 255), 1)
limit1=100
limit2=4500
area1=0

for i, contour in enumerate(contours):
cnt=contours[i]
M = cv2.moments(cnt)
area=cv2.contourArea(cnt)
print("area", area)
if len(cnt) > 0:
area1=area
(x, y), radius = cv2.minEnclosingCircle(cnt)
center = (int(x), int(y))
radius = int(radius)
img = cv2.circle(img, center, radius, (255, 0, 0), 2)
img = cv2.circle(img, center, 1, (0, 0, 255), 3)
print(center, radius)
else:
continue
if area1 < 10:
print("stop1")
time.sleep(1.005)
print("leftturn1")
time.sleep(1.005)
print("forward1")
time.sleep(1.005)
print("rightturn1")
time.sleep(1.005)
print("forward1")
time.sleep(1.005)
elif area1 >= 10:
print("stop2")
time.sleep(1.005)
if (int(x)-centerx) < -10:
print("leftturn21")
time.sleep(1.005)
elif (int(x)-centerx) > 10:
print("rightturn22")
time.sleep(1.005)
else:
if area1 <= limit1:
print("forward211")
time.sleep(1.005)
elif area1 > limit2:
print("reverse212")
time.sleep(1.005)
else:
print("stop12")
time.sleep(1.005)





#cv2.drawContours(img,contours,-1,(0,255,0),3)



cv2.imshow("final", img)
rawCapture.truncate(0)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break

cv2.destroyAllWindows()
GPIO.cleanup()