import cv2
from time import sleep 
import RPi.GPIO as GPIO
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
st1=6
dir1=5
st2=3
dir2=2
GPIO.setup(st1, GPIO.OUT)
GPIO.setup(dir1, GPIO.OUT)
GPIO.setup(st2, GPIO.OUT)
GPIO.setup(dir2, GPIO.OUT)
        
def motion(event,x,y, flags, paramq):
    if event==cv2.EVENT_LBUTTONDOWN:
        Xpos=(x - 640)
        Ypos=(360 - y)
        S1=abs(round(Xpos/10))
        A= abs(round(Ypos/Xpos, 1))
         
        if Xpos<=0:
            d1=0            
        else:
            d1=1
        if Ypos<=0:
            d2=1
        else:
            d2=0
        GPIO.output(dir1,d1)
        GPIO.output(dir2,d2)
        for n in range(S1):            
            for x in range(10):
                GPIO.output(st1,1)
                sleep(0.001)
                GPIO.output(st1,0)
                sleep(0.001)
            for y in range(int(10*A)):
                GPIO.output(st2,1)
                sleep(0.001)
                GPIO.output(st2,0)
                sleep(0.001)
Vcam="CAMERA"
cv2.namedWindow(Vcam, cv2.WINDOW_AUTOSIZE)
cv2.moveWindow(Vcam, 630, 220) 
cap0=cv2.VideoCapture(0) 
cap0.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
cap0.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)

if cap0.isOpened(): 
    rval, frame0 = cap0.read()
else:
    rval = False
    
while rval:   
    cv2.imshow(Vcam, frame0)
    rval, frame0 = cap0.read()
    cv2.line(img=frame0, pt1=(640, 0), pt2=(640, 720), color=(0, 255, 255), thickness=2, lineType=8, shift=0)
    cv2.line(img=frame0, pt1=(0, 360), pt2=(1280, 360), color=(0, 255, 255), thickness=2, lineType=8, shift=0)
    key=cv2.waitKey(1) & 0xFF
    if  key == ord('q'):            
        break
    else:    
        cv2.setMouseCallback("CAMERA",motion)

cap0.release()
cv2.destroyAllWindows()