githubcv2

import subprocess
import time
import cv2
import numpy as np
import RPi.GPIO as GPIO
from picamera.array import PiRGBArray
from picamera import PiCamera

# Install OpenCV and dependencies
subprocess.call("sudo apt-get update", shell=True)
subprocess.call("sudo apt-get install -y libatlas-base-dev libhdf5-dev libhdf5-serial-dev libqtgui4 libqt4-test", shell=True)
subprocess.call("pip install opencv-python-headless", shell=True)

# Stepper motor configuration
step_pin1 = 17
dir_pin1 = 27
step_pin2 = 23
dir_pin2 = 24

# OpenCV parameters
scale_factor = 0.5

# Initialize GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(step_pin1, GPIO.OUT)
GPIO.setup(dir_pin1, GPIO.OUT)
GPIO.setup(step_pin2, GPIO.OUT)
GPIO.setup(dir_pin2, GPIO.OUT)

# Set initial direction
GPIO.output(dir_pin1, GPIO.LOW)  # Set direction to clockwise
GPIO.output(dir_pin2, GPIO.LOW)  # Set direction to clockwise

# Initialize PiCamera
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 30
raw_capture = PiRGBArray(camera, size=(640, 480))

# Allow the camera to warm up
time.sleep(2)

# Loop to track motion
for frame in camera.capture_continuous(raw_capture, format="bgr", use_video_port=True):
    # Capture frame-by-frame
    image = frame.array
    
    # Resize frame
    image = cv2.resize(image, None, fx=scale_factor, fy=scale_factor)
    
    # Convert frame to grayscale
    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    
    # Perform motion detection
    # Assuming you have the motion detection logic implemented and the coordinates of motion as 'x' and 'y'
    
    # Calculate center point
    frame_height, frame_width = gray.shape
    center_x = frame_width // 2
    center_y = frame_height // 2
    
    # Calculate error
    error_x = center_x - x
    error_y = center_y - y
    
    # Move stepper motors based on the error
    # Adjust the speed and step_delay according to your stepper motor's specifications
    step_delay = 0.001
    steps_per_rev = 200
    speed = 10
    
    if error_x > 0:
        GPIO.output(dir_pin1, GPIO.HIGH)  # Set direction to counterclockwise
        for _ in range(speed):
            GPIO.output(step_pin1, GPIO.HIGH)
            time.sleep(step_delay)
            GPIO.output(step_pin1, GPIO.LOW)
            time.sleep(step_delay)
    
    if error_x < 0:
        GPIO.output(dir_pin1, GPIO.LOW)  # Set direction to clockwise
        for _ in range(speed):
            GPIO.output(step_pin1, GPIO.HIGH)
            time.sleep(step_delay)
            GPIO.output(step_pin1, GPIO.LOW)
            time.sleep(step_delay)
    
    if error_y > 0:
        GPIO.output(dir_pin2, GPIO.HIGH)  # Set direction to counterclockwise
        for _ in range(speed):
            GPIO.output(step_pin2, GPIO.HIGH)
            time.sleep(step_delay)
            GPIO.output(step_pin2, GPIO.LOW)
            time.sleep(step_delay)
    
    if error_y < 0