private static void G1T1Loop()
{
Image <Rgb, Byte> rawImage;
string tempPath = VideoSourceDevice.GetCurrentPicturePath();
try
{
rawImage = new Image <Rgb, byte>(tempPath);
}
catch (Exception exception)
{
Console.WriteLine(exception);
return;
}
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
float center = textureAnalysisResult.Center;
float diff = textureAnalysisResult.Diff;
// if center is close to 0.5, it means the car direction is nearly towards the path.
float threadhold = 0.02f;
if (Math.Abs(diff) > threadhold)
{
if (diff > threadhold)
{
if (_previousDiff < -threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Backward, 75, 200);
}
}
else if (diff < -threadhold)
{
if (_previousDiff > threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 75, MotorDirection.Forward, 75, 200);
}
}
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
_previousDiff = diff;
}
