changes

Author: arlk

lk_detect.py

@@ -50,12 +50,13 @@ def __init__(self, video_src):
         self.rhodotPub = rospy.Publisher('rho_dot', Float64, queue_size=10)
 
     def sendCoord(self, x, y):
-        self.xcoordPub.publish(x)
+        x -= 640
+	self.xcoordPub.publish(x)
         self.rhodotPub.publish(y)
 
     def findBestCluster(self, clusters):
         id = 0 
-        minScore = 4
+        minScore = np.inf 
         DONE = False
         minDistance = self.globalMinDist
         mindiffScore = np.inf 
@@ -164,7 +165,7 @@ def run(self):
 
             if self.notDetected > 0:
                 try:
-                    self.sendCoord(-1, self.rhoDot)
+                    self.sendCoord(9999+640, self.rhoDot)
                 except rospy.ROSInterruptException:
                     pass
 

mbed-files/los.h

@@ -10,7 +10,7 @@
 #include "customPID.h"
 #include "Sabertooth.h"
 
-#define NOT_DETECTED -1
+#define NOT_DETECTED 9999 
 
 class LOS {
     public:

startProgs.sh

@@ -1,2 +1,2 @@
 screen -d -m -S Vision bash -c 'export ROS_MASTER_URI=$ROS_PC && ./lk_detect.py; exec bash'
-screen -d -m -S ROS bash -c 'export ROS_MASTER_URI=$ROS_PC && rosrun rosserial_python serial_node.py /dev/ttyACM0; exec bash'
+screen -d -m -S ROS bash -c 'export ROS_MASTER_URI=$ROS_PC && rosrun rosserial_python serial_node.py /dev/ttySAC0; exec bash'