RPI

vid.py
import numpy as np
import cv2

cap = cv2.VideoCapture(0)
cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, 320)
cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, 240)

while(True):
    # Capture frame-by-frame
    ret, frame = cap.read()

    # Our operations on the frame come here
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

    # Display the resulting frame
    cv2.imshow('frame',gray)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()

udp.py

# python socket test
import socket
import rrb2 as rrb

rr = rrb.RRB2()
host = '192.168.1.3'
TCPport = 1523

def parse(rtxt):
	for delim in ' ':
		rtxt = rtxt.replace(delim, ' ')
	results = rtxt.split()

	x = abs((float(results[0])-50)/50)
	y = abs((float(results[1])-50)/50)
	xr = ((float(results[0])-50)/50)
	yr = -((float(results[1])-50)/50)
	if(xr > 0):
		xd = 0
	else:
		xd = 1
	if(yr > 0):
		yd = 0
	else:
		yd = 1
	if(x > 0):
		x = 1
	else:
		x = 0
	if(y > 0):
		y = 1
	else:
		y = 0

	#return results[0],results[0],results[1],results[1]
	#return abs((float(results[0])-50)/50),int((float(results[0])-50)/50),abs((float(results[1])-50)/50),int(-((float(results[1])-50)/50))
	#return ((float(results[0])-50)/50),int((float(results[0])-50)/50),((float(results[1])-50)/50),int(-((float(results[1])-50)/50))
	return x, xd, y, yd

s = socket.socket()
s.connect((host,TCPport))
while 1:
	raw = s.recv(128)
	#if raw == "LON":
	#	rr.setOC1(1)
	#else:
	#	if(raw == "LOFF"):
	#		rr.setOC1(0)
	#else:
	#	if(raw == "RON"):
	#		rr.setOC2(1)
	#else:
	#	if(raw == "ROFF"):
	#		rr.setOC2(0)
	#else:
	spl, dirl, spr, dirr = parse(raw)
	print "x"
	print spl
	print "xd"
	print dirl
	print "y"
	print spr
	print "yd"
	print dirr
    	rr.set_motors(spl, dirl, spr, dirr)
s.close()