Built-in Tracking Models

Import KOI 2 Library

from future import *
from koi2 import KOI2

Serial Initialization

koi = KOI2(tx, rx)

Initializes the serial connection to KOI.

Parameters:

tx: TX Pin, use P2 for Robotbit EDU

rx: RX Pin, use P12 for Robotbit EDU

Select Road Sign Tracking Mode

koi.setModel(1)

Sets the KOI mode to Road Sign Tracking.

Get Road Sign Coordinates

koi.xywh[0]

Returns coordinates for the detected road sign.

Parameters:

data: The type of data to return.

data	Meaning
0	X coordinates
1	Y coordinates
2	Width of road sign
3	Height of road sign

Get Road Sign Name

koi.strVal

Returns the name of the road sign.

Values Returned: U-Turn, forward, left, right, limit-30, stop, tunnel

Sample Code: Road Sign Tracking

from future import *
from koi2 import KOI2



koi = KOI2('P2', 'P12')
koi.setModel(1)
sleep(15)
koi.direction(2)
koi.mirror(0)
screen.sync = 0
while True:
  koi.read_from_uart()
  screen.fill((0, 0, 0))
  screen.text(koi.strVal,5,10,2,(255, 255, 255))
  screen.text(koi.xywh[0],5,30,2,(255, 255, 255))
  screen.text(koi.xywh[1],5,50,2,(255, 255, 255))
  screen.text(koi.xywh[2],5,70,2,(255, 255, 255))
  screen.text(koi.xywh[3],5,90,2,(255, 255, 255))
  screen.refresh()

Select Common Items Tracking Mode

koi.setModel(2)

Sets the KOI mode to Common Items Tracking.

Get Item Coordinates

koi.xywh[0]

Returns coordinates for the detected item.

Parameters:

data: The type of data to return.

data	Meaning
0	X coordinates
1	Y coordinates
2	Width of item
3	Height of item

Get Item Name

koi.strVal

Returns the name of the item.

Values Returned: aeroplane, bicycle, bird, boat, bottle, bus, car, cat, chair, cow, diningtable, dog, horse, motorbike, person, pottedplant, sheep, sofa, train, tvmonitor

Sample Code: Item Tracking

from future import *
from koi2 import KOI2



koi = KOI2('P2', 'P12')
koi.setModel(2)
sleep(15)
koi.direction(2)
koi.mirror(0)
screen.sync = 0
while True:
  koi.read_from_uart()
  screen.fill((0, 0, 0))
  screen.text(koi.strVal,5,10,2,(255, 255, 255))
  screen.text(koi.xywh[0],5,30,2,(255, 255, 255))
  screen.text(koi.xywh[1],5,50,2,(255, 255, 255))
  screen.text(koi.xywh[2],5,70,2,(255, 255, 255))
  screen.text(koi.xywh[3],5,90,2,(255, 255, 255))
  screen.refresh()

Select Alphabets Tracking Mode

koi.setModel(6)

Sets the KOI mode to Alphabet Tracking.

Get Alphabet Coordinates

koi.xywh[0]

Returns coordinates for the detected alphabet.

Parameters:

data: The type of data to return.

data	Meaning
0	X coordinates
1	Y coordinates
2	Width of alphabet
3	Height of alphabet

Get Alphabet Name

koi.strVal

Returns the name of the alphabet.

Values Returned: A, B, C, D, E, F

Sample Code: Alphabet Tracking

from future import *
from koi2 import KOI2



koi = KOI2('P2', 'P12')
koi.setModel(6)
sleep(15)
koi.direction(2)
koi.mirror(0)
screen.sync = 0
while True:
  koi.read_from_uart()
  screen.fill((0, 0, 0))
  screen.text(koi.strVal,5,10,2,(255, 255, 255))
  screen.text(koi.xywh[0],5,30,2,(255, 255, 255))
  screen.text(koi.xywh[1],5,50,2,(255, 255, 255))
  screen.text(koi.xywh[2],5,70,2,(255, 255, 255))
  screen.text(koi.xywh[3],5,90,2,(255, 255, 255))
  screen.refresh()

Select Numbers Tracking Mode

koi.setModel(4)

Sets the KOI mode to Numbers Tracking.

Get Number Coordinates

koi.xywh[0]

Returns coordinates for the detected number.

Parameters:

data: The type of data to return.

data	Meaning
0	X coordinates
1	Y coordinates
2	Width of number
3	Height of number

Get Number Name

koi.numberVal

Returns the name of the number.

Values Returned: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9

Sample Code: Number Tracking

from future import *
from koi2 import KOI2



koi = KOI2('P2', 'P12')
koi.setModel(4)
sleep(15)
koi.direction(2)
koi.mirror(0)
screen.sync = 0
while True:
  koi.read_from_uart()
  screen.fill((0, 0, 0))
  screen.text(koi.numberVal,5,10,2,(255, 255, 255))
  screen.text(koi.xywh[0],5,30,2,(255, 255, 255))
  screen.text(koi.xywh[1],5,50,2,(255, 255, 255))
  screen.text(koi.xywh[2],5,70,2,(255, 255, 255))
  screen.text(koi.xywh[3],5,90,2,(255, 255, 255))
  screen.refresh()