Problem with servo control using Pyfirmata and Opencv

Using Arduino Programming Questions
1

Hello, I am having a problem with my servo control. I am currently making a hand following servo using OpenCV and Pyfirmata. Right now it works but it's pretty unstable. The servo movement is working fine and it's following my hands but after while the servo just stop working when I'm testing it. I'm pretty new to arduino and electronics stuff so I would be very appreciated if someone have any solutions. Thanks in advance

import time
import cv2
import cvzone
import math
from pyfirmata import Arduino, SERVO


#Size 640 x 480

from cvzone.HandTrackingModule import HandDetector

cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FPS, 20)

cap.set(3, 640)
cap.set(4, 480)

detector = HandDetector(staticMode=False, maxHands=1, modelComplexity=1, detectionCon=0.5, minTrackCon=0.5)

pTime = 0

lenght_r = 0
angle_pitch = 0
angle_yaw = 90

board = Arduino("COM4")
pin_9 = board.digital[9]
pin_9.mode = SERVO

def writeAngle(pin, angle):
    pin.write(angle)
    time.sleep(0.03)

while True:
    success, img = cap.read()

    height, width, _ = img.shape
    img_center_x = width // 2
    img_center_y = height // 2
    img_center = [img_center_x, img_center_y]

    cTime = time.time()
    fps = 1 / (cTime - pTime)
    pTime = cTime

    hands, img = detector.findHands(img, draw=False, flipType=True)

    if hands:

        hand = hands[0] 
        lmList = hand["lmList"] 
        bbox = hand["bbox"]
        center = hand['center']
        handType = hand["type"]

        length, info, img = detector.findDistance(lmList[4][0:2], lmList[8][0:2], img, color=(0, 255, 0),
                                                  scale=8)

        hand_size = max(bbox[2], bbox[3])

        lenght_r = round(length / hand_size, 1)

        cv2.circle(img, center, 5, (255, 0, 0), cv2.FILLED)

        cv2.line(img, center, (img_center_x, img_center_y), (255 ,0, 255), 2)

        if lenght_r < 0.2:
            lenght_r = 1
        else:
            lenght_r = 0

        offset_x = center[0] - img_center_x
        offset_y = img_center_y  - center[1]

        angle_yaw = int(((offset_x - (-320)) / (320 - (-320))) * (180- 0) + 0)
        angle_pitch = int(((offset_y - (-240)) / (240 - (-240))) * (60 - 0) + 0)

        print(angle_yaw)

        #pin_9.write(angle_yaw)
        writeAngle(pin_9, angle_yaw)
    else:
        writeAngle(pin_9, angle_yaw)
        
    cv2.circle(img, (img_center_x, img_center_y), 5, (255, 0, 0), cv2.FILLED)

    cv2.putText(img, f'FPS : {int(fps)}', (20, 40), cv2.FONT_HERSHEY_PLAIN, 1, (255, 0, 0), 2)
    cv2.putText(img, "Fire: " + str(lenght_r), (20, 60), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 2)
    cv2.putText(img, "Angle Yaw : " + str(angle_yaw), (20, 80), cv2.FONT_HERSHEY_PLAIN, 1, (255, 0, 255), 2)
    cv2.putText(img, "Angle Pitch : " + str(angle_pitch), (20, 100), cv2.FONT_HERSHEY_PLAIN, 1, (255, 0, 255), 2)


    cv2.line(img, (0, img_center_y), (width, img_center_y), (0, 255, 0), 1)  # Horizontal line
    cv2.line(img, (img_center_x, 0), (img_center_x, height), (0, 255, 0), 1) # Vertical line

    resized_img = cv2.resize(img, (960, 720))

    cv2.imshow("Tracked", resized_img)

    #received_data = arduino.readline().decode('utf-8').strip()
    #print("Received: " + received_data)

    key = cv2.waitKey(1)
    if key == ord('q'):
        break

cap.release()
cv2.destroyAllWindows()
2

Welcome to the forum

Please post the Arduino code that you are using

3

There’s only this python code because I’m using Pyfirmata also I got it fixed somehow. i tried the code again this morning and it seems to work just fine for some reason. thanks for the response tho

4

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