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.. _lib_vision:
Vision
=====
This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.
How do I use this module?
1. Get frames from the raspberry pi camera
2. -- here comes your own processing --
3. Publish the processed frames on an http server
4. You can view the http stream of your processed images in a web browser
Opencv Stream
*************
Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
to 5 Seconds.
.. autoclass:: compLib.Vision.__Streaming
:members:
Examples
*********
Using the Vision Module
---------------------
.. code-block:: python
import cv2
from compLib import Vision
# get newest opencv frame from camera
frame = Vision.Streaming.get_frame()
# do some processing with the frame.....
# publish frame to streaming server
Vision.Streaming.publish_frame(frame)
Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/". This should display
your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in
realtime.
The output on the website should show whatever your raspberry pi cam records:
.. image:: images/opencv_http_stream.png
:width: 680
:alt: Processed frames from opencv
Chessboard Detection
------------------------------------------
In this example we process the captured stream of images and want to detect chessboards. Run this example and
point your raspberry pi camera to a chessboard and it should be detected.
For testing you can point it at this image:
.. image:: images/chessboard.jpg
:width: 680
:alt: Chessboard for opencv processing
.. code-block:: python
import cv2
from compLib import Vision
# get newest opencv frame from camera
frame = Vision.Streaming.get_frame()
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
# convert image to grayscale image
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# find the chessboard corners
ret, corners = cv2.findChessboardCorners(gray, (6, 9), None)
# draw detected chessboard position onto the image
cv2.drawChessboardCorners(frame, (6, 9), corners, ret)
# publish frame to streaming server
Vision.Streaming.publish_frame(frame)
Connect the raspberry pi to your internet and view the stream at: "http://your_raspi_ip:9898/".
The output image should look like this:
.. image:: images/chessboard_detected.jpg
:width: 680
:alt: Processed frames from opencv
Here is a screenshot of the stream website while viewing the chessboard in this documentation.
.. image:: images/opencv_processed.png
:width: 680
:alt: Processed frames from opencv

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.highlight .c { color: #408080; font-style: italic } /* Comment */

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<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Index &mdash; CompLib 0.0.2 documentation</title>
@ -20,6 +20,9 @@
<!--[if lt IE 9]>
<script src="_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -48,7 +51,7 @@
<a href="index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="index.html" class="icon icon-home"> CompLib
@ -88,6 +91,7 @@
<li class="toctree-l1"><a class="reference internal" href="lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
</ul>
@ -128,6 +132,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -155,7 +161,8 @@
<h1 id="index">Index</h1>
<div class="genindex-jumpbox">
<a href="#A"><strong>A</strong></a>
<a href="#_"><strong>_</strong></a>
| <a href="#A"><strong>A</strong></a>
| <a href="#B"><strong>B</strong></a>
| <a href="#D"><strong>D</strong></a>
| <a href="#G"><strong>G</strong></a>
@ -166,6 +173,14 @@
| <a href="#T"><strong>T</strong></a>
</div>
<h2 id="_">_</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Vision.html#compLib.Vision.__Streaming">__Streaming (class in compLib.Vision)</a>
</li>
</ul></td>
</tr></table>
<h2 id="A">A</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
@ -203,6 +218,8 @@
<h2 id="G">G</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Vision.html#compLib.Vision.__Streaming.get_frame">get_frame() (compLib.Vision.__Streaming method)</a>
</li>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_goal">get_goal() (compLib.Api.DoubleElim static method)</a>
</li>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_items">get_items() (compLib.Api.DoubleElim static method)</a>
@ -246,6 +263,8 @@
<li><a href="lib/Api.html#compLib.Api.Position">Position (class in compLib.Api)</a>
</li>
<li><a href="lib/Motor.html#compLib.Motor.Motor.power">power() (compLib.Motor.Motor static method)</a>
</li>
<li><a href="lib/Vision.html#compLib.Vision.__Streaming.publish_frame">publish_frame() (compLib.Vision.__Streaming method)</a>
</li>
</ul></td>
</tr></table>
@ -289,27 +308,24 @@
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<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Robo4you Competition Library &mdash; CompLib 0.0.2 documentation</title>
@ -20,6 +20,9 @@
<!--[if lt IE 9]>
<script src="_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -49,7 +52,7 @@
<a href="#" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="#" class="icon icon-home"> CompLib
@ -89,6 +92,7 @@
<li class="toctree-l1"><a class="reference internal" href="lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
</ul>
@ -129,6 +133,8 @@
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@ -202,6 +208,15 @@
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<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/Vision.html#opencv-stream">Opencv Stream</a></li>
<li class="toctree-l2"><a class="reference internal" href="lib/Vision.html#examples">Examples</a><ul>
<li class="toctree-l3"><a class="reference internal" href="lib/Vision.html#using-the-vision-module">Using the Vision Module</a></li>
<li class="toctree-l3"><a class="reference internal" href="lib/Vision.html#chessboard-detection">Chessboard Detection</a></li>
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@ -212,35 +227,28 @@
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lib/Api.html
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<title>Api &mdash; CompLib 0.0.2 documentation</title>
@ -20,6 +20,9 @@
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@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -100,6 +103,7 @@
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -140,6 +144,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -299,14 +305,14 @@
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Api</span> <span class="kn">import</span> <span class="n">Seeding</span>
<span class="n">park</span> <span class="o">=</span> <span class="n">Seeding</span><span class="o">.</span><span class="n">get_park</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;I should move to parking position: </span><span class="si">{</span><span class="n">park</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;I should move to parking position: {park}&quot;</span><span class="p">)</span>
<span class="k">if</span> <span class="n">park</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;I can&#39;t move to this position yet :(&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;I can&#39;t move to this position yet :(&quot;</span><span class="p">)</span>
<span class="k">elif</span> <span class="n">park</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Moving to position 1!&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Moving to position 1!&quot;</span><span class="p">)</span>
<span class="c1"># drive to parking position using Motors module...</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Now hopefully at position 1&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Now hopefully at position 1&quot;</span><span class="p">)</span>
<span class="c1"># drive back using Motors module...</span>
<span class="k">elif</span> <span class="n">park</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
<span class="c1"># do something similar to park == 1..</span>
@ -315,9 +321,9 @@
<span class="n">success</span> <span class="o">=</span> <span class="n">Seeding</span><span class="o">.</span><span class="n">pay_park</span><span class="p">()</span>
<span class="k">if</span> <span class="n">success</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;We scored some points!&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;We scored some points!&quot;</span><span class="p">)</span>
<span class="k">else</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;We failed :(&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;We failed :(&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
@ -326,10 +332,10 @@
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Api</span> <span class="kn">import</span> <span class="n">DoubleElim</span>
<span class="n">position</span> <span class="o">=</span> <span class="n">DoubleElim</span><span class="o">.</span><span class="n">get_position</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Position of my robot is: x=</span><span class="si">{</span><span class="n">position</span><span class="o">.</span><span class="n">x</span><span class="si">}</span><span class="s2">, y=</span><span class="si">{</span><span class="n">position</span><span class="o">.</span><span class="n">y</span><span class="si">}</span><span class="s2"> and rotation is: </span><span class="si">{</span><span class="n">position</span><span class="o">.</span><span class="n">degrees</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}&quot;</span><span class="p">)</span>
<span class="n">goal</span> <span class="o">=</span> <span class="n">DoubleElim</span><span class="o">.</span><span class="n">get_goal</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Goal is at: x=</span><span class="si">{</span><span class="n">goal</span><span class="o">.</span><span class="n">x</span><span class="si">}</span><span class="s2">, y=</span><span class="si">{</span><span class="n">goal</span><span class="o">.</span><span class="n">y</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Goal is at: x={goal.x}, y={goal.y}&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
@ -341,37 +347,29 @@
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@ -3,9 +3,9 @@
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Battery &mdash; CompLib 0.0.2 documentation</title>
@ -20,6 +20,9 @@
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<script src="../_static/js/html5shiv.min.js"></script>
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@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
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@ -97,6 +100,7 @@
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -137,6 +141,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -193,7 +199,7 @@
<h3>Printing percentage<a class="headerlink" href="#printing-percentage" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Battery</span> <span class="kn">import</span> <span class="n">Battery</span>
<span class="nb">print</span><span class="p">(</span><span class="n">Battery</span><span class="o">.</span><span class="n">percent</span><span class="p">())</span>
<span class="k">print</span><span class="p">(</span><span class="n">Battery</span><span class="o">.</span><span class="n">percent</span><span class="p">())</span>
</pre></div>
</div>
</div>
@ -205,37 +211,29 @@
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
<span class="kn">from</span> <span class="nn">compLib.Buzzer</span> <span class="kn">import</span> <span class="n">Buzzer</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="bp">True</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="bp">False</span><span class="p">)</span>
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<div class="section" id="vision">
<span id="lib-vision"></span><h1>Vision<a class="headerlink" href="#vision" title="Permalink to this headline"></a></h1>
<p>This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.</p>
<p>How do I use this module?</p>
<ol class="arabic simple">
<li><p>Get frames from the raspberry pi camera</p></li>
<li><p>– here comes your own processing –</p></li>
<li><p>Publish the processed frames on an http server</p></li>
<li><p>You can view the http stream of your processed images in a web browser</p></li>
</ol>
<div class="section" id="opencv-stream">
<h2>Opencv Stream<a class="headerlink" href="#opencv-stream" title="Permalink to this headline"></a></h2>
<p>Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
to 5 Seconds.</p>
<dl class="py class">
<dt id="compLib.Vision.__Streaming">
<em class="property">class </em><code class="sig-prename descclassname">compLib.Vision.</code><code class="sig-name descname">__Streaming</code><a class="headerlink" href="#compLib.Vision.__Streaming" title="Permalink to this definition"></a></dt>
<dd><p>Class that handles rtmp streaming for opencv.</p>
<p>DO NOT CREATE AN INSTANCE OF THIS CLASS YOURSELF!</p>
<p>This is automatically done when importing this module. Use Vision.Streaming which is
an instance of this class!</p>
<p>grab frames -&gt; do your own processing -&gt; publish frame -&gt; view on http server</p>
<dl class="py method">
<dt id="compLib.Vision.__Streaming.get_frame">
<code class="sig-name descname">get_frame</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.get_frame" title="Permalink to this definition"></a></dt>
<dd><p>Grab the newest frame from the rtmp stream.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>An opencv frame</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Vision.__Streaming.publish_frame">
<code class="sig-name descname">publish_frame</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.publish_frame" title="Permalink to this definition"></a></dt>
<dd><p>Publish an opencv frame to the http webserver.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>image</strong> – Opencv frame that will be published</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>None</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</div>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="using-the-vision-module">
<h3>Using the Vision Module<a class="headerlink" href="#using-the-vision-module" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">cv2</span>
<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
<span class="c1"># get newest opencv frame from camera</span>
<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
<span class="c1"># do some processing with the frame.....</span>
<span class="c1"># publish frame to streaming server</span>
<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
</pre></div>
</div>
<p>Connect the raspberry pi to your internet and view the stream at: “<a class="reference external" href="http://your_raspi_ip:9898/">http://your_raspi_ip:9898/</a>”. This should display
your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in
realtime.</p>
<p>The output on the website should show whatever your raspberry pi cam records:</p>
<a class="reference internal image-reference" href="../_images/opencv_http_stream.png"><img alt="Processed frames from opencv" src="../_images/opencv_http_stream.png" style="width: 680px;" /></a>
</div>
<div class="section" id="chessboard-detection">
<h3>Chessboard Detection<a class="headerlink" href="#chessboard-detection" title="Permalink to this headline"></a></h3>
<p>In this example we process the captured stream of images and want to detect chessboards. Run this example and
point your raspberry pi camera to a chessboard and it should be detected.</p>
<p>For testing you can point it at this image:</p>
<a class="reference internal image-reference" href="../_images/chessboard.jpg"><img alt="Chessboard for opencv processing" src="../_images/chessboard.jpg" style="width: 680px;" /></a>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">cv2</span>
<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
<span class="c1"># get newest opencv frame from camera</span>
<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
<span class="n">criteria</span> <span class="o">=</span> <span class="p">(</span><span class="n">cv2</span><span class="o">.</span><span class="n">TERM_CRITERIA_EPS</span> <span class="o">+</span> <span class="n">cv2</span><span class="o">.</span><span class="n">TERM_CRITERIA_MAX_ITER</span><span class="p">,</span> <span class="mi">30</span><span class="p">,</span> <span class="mf">0.001</span><span class="p">)</span>
<span class="c1"># convert image to grayscale image</span>
<span class="n">gray</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">cvtColor</span><span class="p">(</span><span class="n">frame</span><span class="p">,</span> <span class="n">cv2</span><span class="o">.</span><span class="n">COLOR_BGR2GRAY</span><span class="p">)</span>
<span class="c1"># find the chessboard corners</span>
<span class="n">ret</span><span class="p">,</span> <span class="n">corners</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">findChessboardCorners</span><span class="p">(</span><span class="n">gray</span><span class="p">,</span> <span class="p">(</span><span class="mi">6</span><span class="p">,</span> <span class="mi">9</span><span class="p">),</span> <span class="bp">None</span><span class="p">)</span>
<span class="c1"># draw detected chessboard position onto the image</span>
<span class="n">cv2</span><span class="o">.</span><span class="n">drawChessboardCorners</span><span class="p">(</span><span class="n">frame</span><span class="p">,</span> <span class="p">(</span><span class="mi">6</span><span class="p">,</span> <span class="mi">9</span><span class="p">),</span> <span class="n">corners</span><span class="p">,</span> <span class="n">ret</span><span class="p">)</span>
<span class="c1"># publish frame to streaming server</span>
<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
</pre></div>
</div>
<p>Connect the raspberry pi to your internet and view the stream at: “<a class="reference external" href="http://your_raspi_ip:9898/">http://your_raspi_ip:9898/</a>”.</p>
<p>The output image should look like this:</p>
<a class="reference internal image-reference" href="../_images/chessboard_detected.jpg"><img alt="Processed frames from opencv" src="../_images/chessboard_detected.jpg" style="width: 680px;" /></a>
<p>Here is a screenshot of the stream website while viewing the chessboard in this documentation.</p>
<a class="reference internal image-reference" href="../_images/opencv_processed.png"><img alt="Processed frames from opencv" src="../_images/opencv_processed.png" style="width: 680px;" /></a>
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other/usage.html
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@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Usage &mdash; CompLib 0.0.2 documentation</title>
@ -20,6 +20,9 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -90,6 +93,7 @@
<li class="toctree-l1"><a class="reference internal" href="../lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Vision.html">Vision</a></li>
</ul>
@ -130,6 +134,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -169,7 +175,7 @@
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="n">port</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">);</span>
<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;hallo ich bin ein roboter beep buup&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="s2">&quot;hallo ich bin ein roboter beep buup&quot;</span><span class="p">)</span>
<span class="n">forward</span><span class="p">()</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
@ -187,37 +193,29 @@
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@ -21,6 +21,9 @@
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@ -35,6 +38,7 @@
<script type="text/javascript" src="_static/searchtools.js"></script>
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@ -50,7 +54,7 @@
<a href="index.html" class="icon icon-home" alt="Documentation Home"> CompLib
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@ -90,6 +94,7 @@
<li class="toctree-l1"><a class="reference internal" href="lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
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