Fetch-It/main.py at master · adithya-m08/Fetch-It · GitHub

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import cv2
import qr
import colour_detection
import navigate
import time
import serial

video = cv2.VideoCapture(0)
colour,stop='',False,
Ser = serial.Serial("/dev/ttyACM0", baudrate=9600)
Ser.flush()

while True:
    flag, frame = video.read()
    if not flag:
        _, frame = video.read()
    cv2.imshow("QR",frame)

    print("\n\n--------------Waiting for QR Code--------------\n\n")
    if(colour==''):
        colour=qr.read(frame)
    else:
        print("\n\n--------------Start:",colour,"--------------\n\n")
        print("--------------Please Remove the QR code--------------")
        cv2.destroyWindow("QR")
        break

    if cv2.waitKey(10) & 0xFF == ord('q'):
        video.release()
        cv2.destroyAllWindows()
        break

time.sleep(1)
#rotate in place

while True:
    flag, frame = video.read()
    if not flag:
        _, frame = video.read()

    try:
        d=navigate.nav(frame)
        Ser.write(bytes(d,'utf-8'))
    except:
        print("Track Not Visible")
        if Ser.inWaiting>0:
            Ser.write(b"S")
            Ser.write(b"X   ")

    stop=colour_detection.detect(frame,colour)

    if(stop==True):
        print("\n\n--------------Stop--------------\n\n")
        if Ser.inWaiting>0:
            Ser.write(b"S")
        video.release()
        cv2.destroyAllWindows()
        break

    if cv2.waitKey(1) & 0xFF == ord('q'):
        video.release()
        cv2.destroyAllWindows()
        break