check for the count of pixels

3 files changed, 12 insertions, 6 deletions

diff --git a/followme.py b/followme.py
index c1833d1..f791412 100755
--- a/followme.py
+++ b/followme.py
@@ -134,7 +134,12 @@ class FollowMe(object):
             
         conexa = mascara.connected_component()
 
-        return conexa
+        if (conexa.count() > pixels):
+            x, y = conexa.centroid()
+        else:
+            x, y = (-1, -1)
+
+        return conexa, (x, y)
 
     def generate_capture_to_show(self):
         if self.use_threshold_view:
@@ -142,9 +147,8 @@ class FollowMe(object):
         else:
             self.captura_to_show = pygame.transform.scale(self.captura, (int(self.show_size[0]), int(self.show_size[1])))
 
-    def show_centroid_position(self, mask):
-        x, y = mask.centroid()
-        pygame.draw.rect(self.captura_to_show, (255,0,0), (x*self.c1, y*self.c2, 20, 20), 16)
+    def show_centroid_position(self, pos):
+        pygame.draw.rect(self.captura_to_show, (255,0,0), (pos[0]*self.c1, pos[1]*self.c2, 20, 20), 16)
 
     def show_outline(self, mask):
         points = mask.outline()
diff --git a/main.py b/main.py
index bfe2de3..9efa5c4 100755
--- a/main.py
+++ b/main.py
@@ -117,10 +117,10 @@ class Main:
                     if self.parent:
                         self.parent.put_color(self.colorC)
                 else:
-                    mask = self.c.get_position(self.colorC, self.threshold, self.pixels)
+                    mask, pos = self.c.get_position(self.colorC, self.threshold, self.pixels)
                     self.c.generate_capture_to_show()
                     if self.show:
-                        self.c.show_centroid_position(mask)
+                        self.c.show_centroid_position(pos)
                         if self.c.use_outline_view:
                             self.c.show_outline(mask)
                         if self.c.use_rects_view:
diff --git a/robot.py b/robot.py
index adf8536..8860e56 100755
--- a/robot.py
+++ b/robot.py
@@ -133,4 +133,6 @@ class Robot(object):
 
         self.butia.set2MotorSpeed(str(vel_actual[0]), str(vel_actual[1]), str(vel_actual[2]), str(vel_actual[3]))
 
+    def stop_robot(self):
+        self.butia.set2MotorSpeed('0', '0', '0', '0')