Goal_keeping_robot.ipynb.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "fe413010",
   "metadata": {},
   "source": [
    "# Team 09 - Milestone 5"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cd5054ec",
   "metadata": {},
   "source": [
    "## Import libraries"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "b3ed7d8b",
   "metadata": {},
   "outputs": [],
   "source": [
    "import requests\n",
    "import imutils\n",
    "\n",
    "# import pyfirmata as pyf\n",
    "import time\n",
    "import cv2\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "# import argparse\n",
    "import skimage\n",
    "# from pyfirmata import  Arduino ,SERVO, util\n",
    "from time import sleep\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "2565118e",
   "metadata": {},
   "source": [
    "## Arduino Connection"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "3cc7f183",
   "metadata": {},
   "outputs": [],
   "source": [
    "board = pyf.Arduino('/dev/ttyACM2')\n",
    "#the port on ubuntu \n",
    "it = pyf.util.Iterator(board)\n",
    "it.start()\n",
    "#identifying serial between arduino and python \n",
    "\n",
    "pin = 8 \n",
    "#identifying pin\n",
    "board.digital[pin].mode=SERVO\n",
    "\n",
    "# servo isntance "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "f9caa177",
   "metadata": {},
   "source": [
    "## Motor Actuation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "d95a5148",
   "metadata": {},
   "outputs": [],
   "source": [
    "def rotate(pin,angle):\n",
    "    board.digital[pin].write(angle)\n",
    "    sleep(0.015)\n",
    "    # implementing rotation function "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "f02d5962",
   "metadata": {},
   "source": [
    "## Geometric & Intensity-level Transformations"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "e1c49d67",
   "metadata": {},
   "outputs": [],
   "source": [
    "def crop(image):\n",
    "    cropped = image[130:500, 150:500]\n",
    "    return cropped"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 103,
   "id": "f5d91e9c",
   "metadata": {},
   "outputs": [],
   "source": [
    "def edge(frame):\n",
    "    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
    "    filt_gauss=cv2.GaussianBlur(frame,(n,n),0)\n",
    "    \n",
    "    kernel_v=[[1,0,-1],\n",
    "        [2,0,-2],\n",
    "        [1,0,-1]]\n",
    "\n",
    "    kernel_h=[[1,2,1],\n",
    "        [0,0,0],\n",
    "        [-1,-2,-1]]\n",
    "\n",
    "    sobel_v = cv2.filter2D(filt_gauss,-1, np.array(kernel_v))\n",
    "    sobel_h = cv2.filter2D(filt_gauss,-1, np.array(kernel_h))\n",
    "    \n",
    "    abs_grad_v = cv2.convertScaleAbs(sobel_v)\n",
    "    abs_grad_h = cv2.convertScaleAbs(sobel_h)\n",
    "    \n",
    "    sobel = cv2.addWeighted(abs_grad_v, 0.5, abs_grad_h, 0.5, 0)\n",
    "    \n",
    "    canny = cv2.Canny(filt_gauss,50,200)    \n",
    "    cv2.imshow('fdg circles',canny)\n",
    "    return canny"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 122,
   "id": "34d03768",
   "metadata": {},
   "outputs": [],
   "source": [
    "def morphological(frame):\n",
    "    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
    "    threshold = 100\n",
    "    gray=cv2.GaussianBlur(gray, (n,n),0)\n",
    "    binary=cv2.inRange(gray,150,255)\n",
    "    \n",
    "    erode=cv2.erode(binary,kernel,iterations = 4)\n",
    "    dilate=cv2.dilate(binary,kernel,iterations = 2)\n",
    "    closing = cv2.morphologyEx(dilate, cv2.MORPH_CLOSE, kernel)\n",
    "    opening = cv2.morphologyEx(binary, cv2.MORPH_OPEN, kernel)\n",
    "\n",
    "    return opening"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c847ce0f",
   "metadata": {},
   "source": [
    "## Hough Transformation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 197,
   "id": "929c9f86",
   "metadata": {},
   "outputs": [],
   "source": [
    "def hough(image):\n",
    "    cimg = image.copy()\n",
    "#     image = cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)\n",
    "#     image = edge(image)\n",
    "    image = morphological(image)\n",
    "#     image=cv2.inRange(image,150,255)\n",
    "    image = cv2.medianBlur(image,5)\n",
    "    \n",
    "    try:\n",
    "        circles = cv2.HoughCircles(image,cv2.HOUGH_GRADIENT,1.2,120,param1=50,param2=15,minRadius=60,maxRadius=70)\n",
    "        circles = np.uint16(np.around(circles))\n",
    "        for i in circles[0,:]:\n",
    "        # draw the outer circle\n",
    "            cv2.circle(image,(i[0],i[1]),i[2],(0,255,0),2)\n",
    "            print((i[0],i[1]))\n",
    "\n",
    "            # draw the center of the circle\n",
    "            cv2.circle(image,(i[0],i[1]),2,(0,0,255),3)\n",
    "    except:\n",
    "        pass\n",
    "    \n",
    "    (h, w) = image.shape[:2] #w:image-width and h:image-height\n",
    "    cv2.circle(image, (w//2, h//2), 7, (255, 255, 255), -1)\n",
    "    \n",
    "    cv2.imshow('detected circles',image)\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "99b92889",
   "metadata": {},
   "source": [
    "## Main Loop"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 198,
   "id": "f6c737b1",
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
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    },
    {
     "name": "stdout",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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    },
    {
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     "output_type": "stream",
     "text": [
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "(640, 397)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(638, 394)\n",
      "(638, 394)\n",
      "(638, 400)\n",
      "(639, 394)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(640, 397)\n",
      "(639, 394)\n",
      "(638, 394)\n",
      "(638, 394)\n",
      "(640, 395)\n",
      "(638, 394)\n",
      "(635, 393)\n",
      "(640, 397)\n",
      "(637, 393)\n",
      "(638, 397)\n",
      "(638, 393)\n",
      "(641, 395)\n",
      "(638, 392)\n",
      "(505, 508)\n",
      "(638, 395)\n",
      "(637, 393)\n",
      "(515, 559)\n",
      "(637, 393)\n",
      "(637, 393)\n",
      "(638, 393)\n",
      "(638, 393)\n",
      "(638, 394)\n",
      "(637, 395)\n",
      "(637, 395)\n",
      "(637, 395)\n",
      "(637, 393)\n",
      "(637, 393)\n",
      "(639, 393)\n",
      "(637, 395)\n",
      "(641, 397)\n",
      "(641, 397)\n",
      "(640, 397)\n"
     ]
    }
   ],
   "source": [
    "camera = cv2.VideoCapture(-1)\n",
    "orangeLower = (18, 40, 90)\n",
    "orangeUpper = (29, 255, 255)\n",
    "while True:\n",
    "    _, frame = camera.read()\n",
    "\n",
    "    if frame is None:\n",
    "        break\n",
    "        \n",
    "    midpoint = frame[479,320]\n",
    "    midpoint = [0,0,255]\n",
    "    \n",
    "    blurred = cv2.GaussianBlur(frame, (11, 11), 0)\n",
    "    width, height = frame.shape[:2]\n",
    "    hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)\n",
    "    mask = cv2.inRange(hsv, orangeLower, orangeUpper)\n",
    "    mask = cv2.erode(mask, None, iterations=2)\n",
    "    mask = cv2.dilate(mask, None, iterations=2)\n",
    "    cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,\n",
    "                            cv2.CHAIN_APPROX_SIMPLE)\n",
    "    cnts = imutils.grab_contours(cnts)\n",
    "    center = None\n",
    "\n",
    "    if len(cnts) > 0:\n",
    "        c = max(cnts, key=cv2.contourArea)\n",
    "        ((x, y), radius) = cv2.minEnclosingCircle(c)\n",
    "        M = cv2.moments(c)\n",
    "        X = int(M[\"m10\"] / M[\"m00\"])\n",
    "        Y = int(M[\"m01\"] / M[\"m00\"])\n",
    "        center = (X,Y)\n",
    "        print( center)\n",
    "        \n",
    "        Xbar = 480 - X\n",
    "        Ybar = Y - 280\n",
    "        theta = math.atan(Xbar/Ybar)\n",
    "        if y < 280:\n",
    "            angle = 90 - int(theta*(180/math.pi))\n",
    "            rotate(pin,angle-20)\n",
    "        else :\n",
    "            angle = 90 + int(theta*(180/math.pi))\n",
    "            rotate(pin,angle)\n",
    "        \n",
    "        print(angle)\n",
    "\n",
    "        # To see the centroid clearly\n",
    "        if radius > 10:\n",
    "            cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 5)\n",
    "            cv2.imwrite(\"circled_frame.png\", cv2.resize(frame, (int(height / 2), int(width / 2))))\n",
    "            cv2.circle(frame, center, 5, (0, 0, 255), -1)\n",
    "    \n",
    "    \n",
    "    cv2.imshow(\"Circles\", frame)  \n",
    "    if cv2.waitKey(1) == 13: \n",
    "        break\n",
    "\n",
    "camera.release()\n",
    "cv2.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "85f9f39a",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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