robot looks at you

main.py

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+from UnifiWebsockets import Unifi
+from URSentry import URSentry
+import queue
+import time
+import threading
+import BBoxProcessor
+
+q = queue.Queue()
+
+x = threading.Thread(target=Unifi.run, args=(q,))
+x.start()
+
+b = BBoxProcessor.BBoxProcessor()
+
+ur = URSentry("172.22.114.160")
+
+joystick_queue = queue.Queue()
+
+
+class CameraJoystick(threading.Thread):
+    def __init__(self, joystick_queue: queue.Queue[list[int]]):
+        threading.Thread.__init__(self)
+        self.joystick_queue = joystick_queue
+        self.keep_running = True
+
+    def run(self):
+        while self.keep_running:
+            bb = b.get_joystick_position_from_new_set_of_bboxes(q.get())
+            print(bb)
+            self.joystick_queue.put(bb)
+
+    def stop(self):
+        self.keep_running = False
+
+
+current_joystick = [0, 0]
+
+
+class JoystickScheduler(threading.Thread):
+    def __init__(self, joystick_queue: queue.Queue[list[int]]):
+        threading.Thread.__init__(self)
+        self.joystick_queue = joystick_queue
+        self.keep_running = True
+
+    def run(self):
+        while self.keep_running:
+            global current_joystick
+            current_joystick = self.joystick_queue.get()
+
+    def stop(self):
+        self.keep_running = False
+
+
+camera_joystick = CameraJoystick(joystick_queue)
+camera_joystick.start()
+joystick_scheduler = JoystickScheduler(joystick_queue)
+joystick_scheduler.start()
+
+ur.await_stop = True
+ur.forward_position()
+
+while True:
+    ur.move_robot_base(-current_joystick[0])
+    print("Setting robot base velocity to: ", current_joystick[0])
+    time.sleep(0.2)