Add files via upload

Author: akshaymogaveera

Diff for: classmoto.ino

@@ -0,0 +1,202 @@
+#include <Servo.h>
+Servo m;
+Servo u;
+Servo d;
+int i,t,c,b;
+int x=0;
+int y=0;
+int j;
+void setup()
+{
+  Serial.begin(9600);
+  m.attach(9);
+  u.attach(5);
+  d.attach(11);
+  pinMode(6,INPUT);
+  pinMode(7,INPUT);
+
+  m.write(90);
+  delay(100);
+  u.write(0);
+  delay(100);
+  d.write(45);
+  delay(4000);
+  c=90;
+  t=0;
+  b=45;
+  start();
+}
+
+
+
+void start ()
+{
+  delay(1500); // up movement
+  for(i=c;i>=15;i--)
+  {
+    m.write(i);
+    delay(10);
+    c=10;
+  }
+  delay(1000);
+  t=45;
+  u.write(t);
+  delay(1000);
+
+  for(i=b;i>=0;i--)
+  {
+    d.write(i);
+    delay(10);
+    b=0;
+  }
+
+  delay(1500); 
+
+  u.write(0);
+  delay(1500);
+  for(i=c;i<=90;i++) //down movement
+  {
+    m.write(i);
+    delay(10);
+    c=90;
+  }
+  delay(1000);
+  t=0;
+
+  digitalWrite(2,LOW);
+  digitalWrite(4,HIGH);
+  delay(1500);
+
+  digitalWrite(2,LOW);
+  digitalWrite(4,LOW);
+  delay(1000);
+
+}
+
+
+class move
+{
+  public:
+    
+  void color(int n)
+  {
+    delay(1500);            
+    digitalWrite(2,HIGH);//close grip
+    digitalWrite(4,LOW);
+    delay(1500);
+    for(i=90;i>=15;i--) //up movement of centre and top motor
+    {
+      m.write(i);
+      delay(10);
+
+    }
+    delay(1500);
+    for(j=0;j<=45;j++) //up movement of centre and top motor
+    {
+      u.write(j);
+      delay(10);
+
+    }
+    delay(1500);
+    for(i=0;i<=n;i++) //bottom motor
+    {
+      d.write(i);
+      delay(10);
+
+    }
+    delay(1500);
+
+    for(j=45;j>=0;j--) //down movement of centre and top
+    {
+      u.write(j);
+      delay(10);
+    }
+    delay(1500);
+    for(i=15;i<=90;i++) //down movement of centre and top
+    {
+      m.write(i);
+      delay(10);
+
+
+    }
+    delay(1500);
+    digitalWrite(2,LOW);
+    digitalWrite(4,HIGH);
+    delay(1500);
+
+    digitalWrite(2,LOW);
+    digitalWrite(4,LOW);
+    delay(1000);
+
+    delay(1500);
+
+    for(i=90;i>=15;i--) //up movement of centre and top
+    {
+      m.write(i);
+      delay(10);
+    }
+    delay(1500);
+    for(j=0;j<=45;j++) //up movement of centre and top
+    {
+      u.write(j);
+      delay(10);
+    }
+    delay(1500);
+    for(i=n;i>=0;i--) // move down to 0
+    {
+      d.write(i);
+      delay(10);
+
+    }
+    delay(1500);
+    for(j=45;j>=0;j--) //down
+    {
+      u.write(j);
+      delay(10);
+
+    }
+    delay(1500);
+    for(i=15;i<=90;i++) //down
+    {
+      m.write(i);
+      delay(10);
+
+    }
+
+
+
+  }
+};
+void loop()
+{
+
+  x=digitalRead(6);
+  y=digitalRead(7);
+  if((x==HIGH)&&(y==LOW))
+  {
+    move b;
+    b.color(90);
+  }
+else if((x==LOW)&&(y==HIGH))
+   {
+   
+   move g;
+   g.color(135);
+   }
+   
+   else if((x==HIGH)&&(y==HIGH))
+   {
+   move r;
+   r.color(180);
+   }
+   else
+   {
+   }
+   
+   
+   x=LOW;
+   y=LOW;
+}
+
+
+

Diff for: colordetect.py

@@ -0,0 +1,92 @@
+import RPi.GPIO as GPIO
+pin=11
+pin1=13
+GPIO.setmode(GPIO.BOARD)
+GPIO.setwarnings(False)
+GPIO.setup(pin,GPIO.OUT)
+GPIO.setup(pin1,GPIO.OUT)
+
+a=0
+import cv2
+import numpy as np
+import time
+cap = cv2.VideoCapture(0)
+while True:
+    cr=0
+    cb=0
+    cg=0
+    ret,im = cap.read()
+    
+    #frame=cv2.imread('1.2.jpg',1)
+    hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
+   #lower mask red
+    '''lower_red = np.array([0,50,50])
+    upper_red = np.array([20,255,255])
+    mask0 = cv2.inRange(hsv, lower_red ,upper_red)
+   
+     #upper mask red
+    lower_red = np.array([170,50,50])
+    upper_red = np.array([180,255,255])
+    mask1 = cv2.inRange(hsv, lower_red ,upper_red)
+    mask=mask0+mask1'''
+    #yellow
+    lowyellow=np.array([20,50,100],dtype=np.uint8)
+    highyellow=np.array([42,255,255],dtype=np.uint8)
+    mask = cv2.inRange(hsv, lowyellow,highyellow)
+    #blue
+    lowblue=np.array([110,130,50],dtype=np.uint8)
+    highblue=np.array([130,255,255],dtype=np.uint8)
+    maskb = cv2.inRange(hsv, lowblue,highblue)
+    #green
+    lowgreen=np.array([44,54,63],dtype=np.uint8)
+    highgreen=np.array([90,255,255],dtype=np.uint8)
+    maskg = cv2.inRange(hsv, lowgreen,highgreen)
+    
+    cv2.imshow('mask red',mask)
+    #cv2.imshow('mask blue',maskb)
+    #cv2.imshow('mask green',maskg)
+    cr=cv2.countNonZero(mask)
+    cb=cv2.countNonZero(maskb)
+    cg=cv2.countNonZero(maskg)
+    if(cb>4000):
+        print 'blue'
+        GPIO.output(pin,GPIO.HIGH)
+        GPIO.output(pin1,GPIO.LOW)
+        time.sleep(1)
+        GPIO.output(pin,GPIO.LOW)
+        GPIO.output(pin1,GPIO.LOW)
+    elif(cg>4000):
+        print 'green'
+        GPIO.output(pin,GPIO.LOW)
+        GPIO.output(pin1,GPIO.HIGH)
+        time.sleep(1)
+        GPIO.output(pin,GPIO.LOW)
+        GPIO.output(pin1,GPIO.LOW)
+    elif(cr>8000):
+        print 'yellow'
+        GPIO.output(pin,GPIO.HIGH)
+        GPIO.output(pin1,GPIO.HIGH)
+        time.sleep(1)
+        GPIO.output(pin,GPIO.LOW)
+        GPIO.output(pin1,GPIO.LOW)
+    GPIO.output(pin,GPIO.LOW)
+    GPIO.output(pin1,GPIO.LOW)
+        
+    #print ('red=',cr)
+    #print ('blue',cb)
+    #print ('green',cg)
+    if cv2.waitKey(1) & 0xff==ord('q'):
+        
+        break
+  
+
+
+
+    
+   
+    
+#cv2.waitKey()
+cap.release()
+cv2.destroyAllWindows()
+    
+