Machine-Vision-Bot-for-Object-Tracking/appcampantilt.py at main · Adhish23/Machine-Vision-Bot-for-Object-Tracking · GitHub

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
#  	appCamPanTilt.py
#  	Streaming video with Flask based on tutorial ==> https://blog.miguelgrinberg.com/post/video-streaming-with-flask
# 	PiCam Local Web Server with PanTilt position Control
#
#   MJRoBot.org 30Jan18

import os
from time import sleep
from flask import Flask, render_template, request, Response

# Raspberry Pi camera module (requires picamera package from Miguel Grinberg)
from camera_pi import Camera

app = Flask(__name__)

# Global variables definition and initialization
global panServoAngle
global tiltServoAngle
panServoAngle = 90
tiltServoAngle = 90

panPin = 27
tiltPin = 17

@app.route('/')
def index():
    """Video streaming home page."""

    templateData = {
      'panServoAngle'	: panServoAngle,
      'tiltServoAngle'	: tiltServoAngle
	}
    return render_template('index.html', **templateData)


def gen(camera):
    """Video streaming generator function."""
    while True:
        frame = camera.get_frame()
        yield (b'--frame\r\n'
               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')


@app.route('/video_feed')
def video_feed():
    """Video streaming route. Put this in the src attribute of an img tag."""
    return Response(gen(Camera()),
                    mimetype='multipart/x-mixed-replace; boundary=frame')


@app.route("/<servo>/<angle>")
def move(servo, angle):
	global panServoAngle
	global tiltServoAngle
	if servo == 'pan':
		if angle == '+':
                        panServoAngle = panServoAngle + 10

                        if(panServoAngle > 150):
                            panServoAngle = 150

		else:
                        panServoAngle = panServoAngle - 10

                        if(panServoAngle < 30):
                            panServoAngle = 30

		os.system("python3 angleServoCtrl.py " + str(panPin) + " " + str(panServoAngle))
	if servo == 'tilt':
		if angle == '+':
			tiltServoAngle = tiltServoAngle + 10

			if(tiltServoAngle > 150):
                            tiltServoAngle = 150
		else:
			tiltServoAngle = tiltServoAngle - 10
			if(tiltServoAngle < 30):
                            tiltServoANgle = 30

		os.system("python3 angleServoCtrl.py " + str(tiltPin) + " " + str(tiltServoAngle))

	templateData = {
      'panServoAngle'	: panServoAngle,
      'tiltServoAngle'	: tiltServoAngle
	}
	return render_template('index.html', **templateData)


@app.route("/<direction>")
def webdrive(direction):
    os.system("python3 Motor_test.py " + str(direction) + " " + str(0.22) + " " + str(50))
    templateData = {
      'panServoAngle'	: panServoAngle,
      'tiltServoAngle'	: tiltServoAngle
	}
    return render_template('index.html', **templateData)

if __name__ == '__main__':
    app.run(host='0.0.0.0', port =80, debug=True, threaded=True)