DeltaPickerClass.py 文件源码

def __init__(self):
        """Constructor"""
        self.folderCount = 0;
        self.cam = picamera.PiCamera()
        self.imageProUpperLevel = ImPro(self.cam, 256, 256)
        self.imageProUpperLevel.camera._set_led(False)

        self.imageProLowerLevel = ImPro(self.cam, 256, 256, True, 96, 96)

        # This serial port is used to send 3D coordinates to the Arduino. 
        self.port = serial.Serial("/dev/ttyAMA0", baudrate=9600, timeout=3.0)

        # This offset marks the pixelposition on the image which corresponds to the physical position when the
        # DeltaPicker move down to 0.0, 0.0, -0.466. Only x and y components are used.
        self.upperLevelOffset = Vector(0, 0, 0)
        # This offset is the low level offset. It gets taken at a hight of -0.41        
        self.lowerLevelOffset = Vector(0, 0, 0)

        # Crop Offset
        self.cropOffset = Vector(80, 0, 0)


    # - - - - - - - - - - - - - - - - 
    # - - - - GO TO STARTPOS  - - - -
    # - - - - - - - - - - - - - - - -