import sys
sys.path.append('/home/pi/Dexter/GoPiGo3/Software/Python')


import scavbot
import config
from coneutils import calibrate
boundaries_dict = calibrate.load_boundaries('coneutils/boundaries.json')
image_model_dir = '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_model_edgeTPU/'
cone_model_dir = '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_cone_model_edgetpu/'
image_dir='/home/pi/Pictures/'
cone_image_dir='/home/pi/Pictures/Cones/orange'

bot = scavbot.ScavBot(
	image_model_dir=image_model_dir ,
	cone_model_dir = cone_model_dir,   
	image_dir=image_dir,
	cone_image_dir=cone_image_dir,
	params=config.params,
	boundaries = boundaries_dict
)

#just to center the servo at the beginnning
bot.servo.rotate_servo(90)

print('Starting The Hunt')
print('Looking for Green cone')
bot.drive_to_cone("green")
print('Reached Green cone')
bot.circum_navigate("green")
print('Green cone done, looking for base cone')

bot.drive_to_cone("red")
print('Reached base')
bot.circum_navigate("red")

print('Looking for Yellow cone now')
bot.drive_to_cone("yellow")
print('Reached Yellow cone')
bot.circum_navigate("yellow")
print('Yellow cone done, looking for base cone')

bot.drive_to_cone("red")
print('Reached base')
bot.circum_navigate("red")

print('Looking for Purple cone now')
bot.drive_to_cone("purple")
print('Reached Purple cone')
bot.circum_navigate("purple")
print('Purple cone done, looking for base cone')

bot.drive_to_cone("red")
bot.gpg.set_speed(300)
bot.gpg.drive_cm(20)
bot.gpg.turn_degrees(90)
print('Reached Base: HUNT OVER!!!!')
faab26bfa82f59de94f7f95dc2b2acc5ceb200a2
<mask token>

<mask token>
sys.path.append('/home/pi/Dexter/GoPiGo3/Software/Python')
<mask token>
bot.servo.rotate_servo(90)
print('Starting The Hunt')
print('Looking for Green cone')
bot.drive_to_cone('green')
print('Reached Green cone')
bot.circum_navigate('green')
print('Green cone done, looking for base cone')
bot.drive_to_cone('red')
print('Reached base')
bot.circum_navigate('red')
print('Looking for Yellow cone now')
bot.drive_to_cone('yellow')
print('Reached Yellow cone')
bot.circum_navigate('yellow')
print('Yellow cone done, looking for base cone')
bot.drive_to_cone('red')
print('Reached base')
bot.circum_navigate('red')
print('Looking for Purple cone now')
bot.drive_to_cone('purple')
print('Reached Purple cone')
bot.circum_navigate('purple')
print('Purple cone done, looking for base cone')
bot.drive_to_cone('red')
bot.gpg.set_speed(300)
bot.gpg.drive_cm(20)
bot.gpg.turn_degrees(90)
print('Reached Base: HUNT OVER!!!!')

<mask token>
sys.path.append('/home/pi/Dexter/GoPiGo3/Software/Python')
<mask token>
boundaries_dict = calibrate.load_boundaries('coneutils/boundaries.json')
image_model_dir = (
    '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_model_edgeTPU/'
    )
cone_model_dir = (
    '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_cone_model_edgetpu/'
    )
image_dir = '/home/pi/Pictures/'
cone_image_dir = '/home/pi/Pictures/Cones/orange'
bot = scavbot.ScavBot(image_model_dir=image_model_dir, cone_model_dir=
    cone_model_dir, image_dir=image_dir, cone_image_dir=cone_image_dir,
    params=config.params, boundaries=boundaries_dict)
bot.servo.rotate_servo(90)
print('Starting The Hunt')
print('Looking for Green cone')
bot.drive_to_cone('green')
print('Reached Green cone')
bot.circum_navigate('green')
print('Green cone done, looking for base cone')
bot.drive_to_cone('red')
print('Reached base')
bot.circum_navigate('red')
print('Looking for Yellow cone now')
bot.drive_to_cone('yellow')
print('Reached Yellow cone')
bot.circum_navigate('yellow')
print('Yellow cone done, looking for base cone')
bot.drive_to_cone('red')
print('Reached base')
bot.circum_navigate('red')
print('Looking for Purple cone now')
bot.drive_to_cone('purple')
print('Reached Purple cone')
bot.circum_navigate('purple')
print('Purple cone done, looking for base cone')
bot.drive_to_cone('red')
bot.gpg.set_speed(300)
bot.gpg.drive_cm(20)
bot.gpg.turn_degrees(90)
print('Reached Base: HUNT OVER!!!!')

import sys
sys.path.append('/home/pi/Dexter/GoPiGo3/Software/Python')
import scavbot
import config
from coneutils import calibrate
boundaries_dict = calibrate.load_boundaries('coneutils/boundaries.json')
image_model_dir = (
    '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_model_edgeTPU/'
    )
cone_model_dir = (
    '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_cone_model_edgetpu/'
    )
image_dir = '/home/pi/Pictures/'
cone_image_dir = '/home/pi/Pictures/Cones/orange'
bot = scavbot.ScavBot(image_model_dir=image_model_dir, cone_model_dir=
    cone_model_dir, image_dir=image_dir, cone_image_dir=cone_image_dir,
    params=config.params, boundaries=boundaries_dict)
bot.servo.rotate_servo(90)
print('Starting The Hunt')
print('Looking for Green cone')
bot.drive_to_cone('green')
print('Reached Green cone')
bot.circum_navigate('green')
print('Green cone done, looking for base cone')
bot.drive_to_cone('red')
print('Reached base')
bot.circum_navigate('red')
print('Looking for Yellow cone now')
bot.drive_to_cone('yellow')
print('Reached Yellow cone')
bot.circum_navigate('yellow')
print('Yellow cone done, looking for base cone')
bot.drive_to_cone('red')
print('Reached base')
bot.circum_navigate('red')
print('Looking for Purple cone now')
bot.drive_to_cone('purple')
print('Reached Purple cone')
bot.circum_navigate('purple')
print('Purple cone done, looking for base cone')
bot.drive_to_cone('red')
bot.gpg.set_speed(300)
bot.gpg.drive_cm(20)
bot.gpg.turn_degrees(90)
print('Reached Base: HUNT OVER!!!!')

import sys
sys.path.append('/home/pi/Dexter/GoPiGo3/Software/Python')


import scavbot
import config
from coneutils import calibrate
boundaries_dict = calibrate.load_boundaries('coneutils/boundaries.json')
image_model_dir = '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_model_edgeTPU/'
cone_model_dir = '/home/pi/Desktop/code/capstone_project/capstone-project-3/scav-hunt/custom_cone_model_edgetpu/'
image_dir='/home/pi/Pictures/'
cone_image_dir='/home/pi/Pictures/Cones/orange'

bot = scavbot.ScavBot(
	image_model_dir=image_model_dir ,
	cone_model_dir = cone_model_dir,   
	image_dir=image_dir,
	cone_image_dir=cone_image_dir,
	params=config.params,
	boundaries = boundaries_dict
)

#just to center the servo at the beginnning
bot.servo.rotate_servo(90)

print('Starting The Hunt')
print('Looking for Green cone')
bot.drive_to_cone("green")
print('Reached Green cone')
bot.circum_navigate("green")
print('Green cone done, looking for base cone')

bot.drive_to_cone("red")
print('Reached base')
bot.circum_navigate("red")

print('Looking for Yellow cone now')
bot.drive_to_cone("yellow")
print('Reached Yellow cone')
bot.circum_navigate("yellow")
print('Yellow cone done, looking for base cone')

bot.drive_to_cone("red")
print('Reached base')
bot.circum_navigate("red")

print('Looking for Purple cone now')
bot.drive_to_cone("purple")
print('Reached Purple cone')
bot.circum_navigate("purple")
print('Purple cone done, looking for base cone')

bot.drive_to_cone("red")
bot.gpg.set_speed(300)
bot.gpg.drive_cm(20)
bot.gpg.turn_degrees(90)
print('Reached Base: HUNT OVER!!!!')