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kuukar-rpi
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MainRobotLane

This commit is contained in:
Siwat Sirichai 2022-12-11 14:51:17 +07:00
parent 30650adec9
commit 150399d63d
2 changed files with 5 additions and 5 deletions
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8
MainRobotLane.py
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@ -18,7 +18,7 @@ def main():
img = WebcamModule.getImg() img = WebcamModule.getImg()
curveVal= getLaneCurve(img,2) curveVal= getLaneCurve(img,2)
sen = 1.3 # SENSITIVITY sen = 0.8 # SENSITIVITY
maxVAl= 1.0 # MAX SPEED maxVAl= 1.0 # MAX SPEED
if curveVal>maxVAl:curveVal = maxVAl if curveVal>maxVAl:curveVal = maxVAl
if curveVal<-maxVAl: curveVal =-maxVAl if curveVal<-maxVAl: curveVal =-maxVAl
@ -28,14 +28,14 @@ def main():
if curveVal<0.05: curveVal=0 if curveVal<0.05: curveVal=0
else: else:
if curveVal>-0.08: curveVal=0 if curveVal>-0.08: curveVal=0
car.motion.skt_drive(0.15,-curveVal*sen,0.05) car.motion.skt_drive(0.3,-curveVal*sen,0.05)
print(curveVal) print(curveVal)
cv2.waitKey(1) cv2.waitKey(1)
if __name__ == '__main__': if __name__ == '__main__':
initialTrackBarVals = [98, 141, 77, 220] initialTrackBarVals = [70, 124, 4, 195]
initializeTrackbars(initialTrackBarVals) initializeTrackbars(initialTrackBarVals)
while True: while True:
main() main()

2
kuukar/kuukar_motion.py
View File

@ -134,7 +134,7 @@ class motion:
self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed)) self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
##self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed) ##self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
##self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed) ##self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
time.sleep(t)
def stop(self): def stop(self):