we won with this shit, awww yeahhhhh

beaglebone/main.py

@@ -27,11 +27,11 @@ def forwardMovement():
 		# next = vc.findShapes()
 		cornerFrame = vc.trackCorners()
 
-		vc.drawGrid( cornerFrame )
-		vc.writeFrame( cornerFrame )
+		vc.drawGrid( lineFrame )
+		vc.writeFrame( lineFrame )
 		vc.saveFrameToBuf()
 
-		frame = cornerFrame
+		frame = lineFrame
 
 		nudgeMotor = None
 		nudgeTime  = None
@@ -94,8 +94,8 @@ def mainLoop():
 		while vc.frameBuf.size() < 5 and vc.lastFlowPnts is None and vc.captureFrame():
 			lineFrame, intersect, horz = vc.findLines()
 			cornerFrame = vc.trackCorners()
-			vc.drawGrid( cornerFrame )
-			vc.writeFrame( cornerFrame )
+			vc.drawGrid( lineFrame )
+			vc.writeFrame( lineFrame )
 			if intersect:
 				vc.saveFrameToBuf()
 
@@ -106,8 +106,19 @@ def mainLoop():
 			Log.warning( "could not find directions, trying again.." )
 			vc.reset()
 			continue
+		directions.append( 'Down' )
 		nextTurn = random.choice( directions )
 
+		# next = vc.findShapes()
+		# if next == 'Destination':
+		# 	nextTurn = next
+		# elif next in directions:
+		# 	nextTurn = next
+		# else:
+		# 	nextTurn = random.choice( directions )
+
+		Log.info( "Nest turn is: " + nextTurn )
+
 		Log.debug( "sending start" )
 		cl.flush()
 		cl.start( 13 )
@@ -233,8 +244,8 @@ def mainLoop():
 	vc = VideoCapture( outfile=args.outfile, fourcc=args.fourcc )
 	cl.setup()
 
-	# print "starting in 10 seconds..."
-	# delay( 10000 )
+	print "starting in 10 seconds..."
+	delay( 10000 )
 
 	# spend some frames letting the camera warm up
 	for i in range(10):

beaglebone/videoLib.py

@@ -113,7 +113,7 @@ def __init__( self, infile=None, outfile=None, fourcc="XVID", preview=False ):
 			Log.info( "opening videoWriter" )
 			f = fourcc
 			fourcc = cv.CV_FOURCC( f[0], f[1], f[2], f[3] )
-			self.writer = cv2.VideoWriter( outfile, fourcc, 20.0, (self.width,self.height) )
+			self.writer = cv2.VideoWriter( outfile, fourcc, 10.0, (self.width,self.height) )
 		else:
 			self.writer = None
 
@@ -616,7 +616,7 @@ def findShapes( self ):
 			# LED light show?
 			Log.info("Destination detected")
 			direction = 'Destination'
-		elif greencount >= 680:
+		elif greencount >= 100:
 			# Log.debug( "%s" % greencount )
 			# convert to grayscale
 			gray = cv2.cvtColor(crop,cv2.COLOR_BGR2GRAY)
@@ -669,8 +669,10 @@ def findShapes( self ):
 			for i in corners:
 				x,y = i.ravel()
 				cv2.circle(crop,(x,y),3,255,-1)
+		else:
+			direction = 'Up'
 
-		return totalgreen
+		return direction
 
 	# Function to mask out the signs on the road this is done to make sure the we don't mess up the line detection.
 	def maskcolors( self ):