""" Grant Permission to the port sudo chmod 666 /dev/ttyACM0 Change the mode to 5W for using with USB power sudo nvpmodel -m1 sudo nvpmodel -q by: Murtaza Hassan Website: www.murtazahassan.com Youtube: Murtaza's Workshop - Robotics and AI """ import cv2 import time import SerialModule as sm ser = sm.initConnection('/dev/ttyACM0', 9600) frameWidth = 640 frameHeight= 480 flip = 0 ## The camera parameters should be in a single line camSet='nvarguscamerasrc ! video/x-raw(memory:NVMM), width=3264, height=2464, format=NV12, framerate=21/1 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(frameWidth)+', height='+str(frameHeight)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink' cap = cv2.VideoCapture(camSet) while True: sccuess, img = cap.read() cv2.imshow("Result", img) key = cv2.waitKey(1) if key == ord('w'):sm.sendData(ser,[50,0],4) elif key == ord('s'):sm.sendData(ser,[-50,0],4) elif key == ord('a'):sm.sendData(ser,[50,15],4) elif key == ord('d'):sm.sendData(ser,[50,-15],4) elif key == ord('q'):break else: sm.sendData(ser,[0,0],4)