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Update MainRobotLane.py 

Update initailTrackBarVals to MainRobotLane
This commit is contained in:
Siwat Sirichai 2022-12-10 22:15:21 +07:00
parent a4578ed947
commit 30650adec9
1 changed files with 16 additions and 6 deletions
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20
MainRobotLane.py
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@ -1,19 +1,25 @@
import cv2
from kuukar import kuukar_motion from kuukar.kuukar import kuukar
from LaneDetectionModule import getLaneCurve from LaneDetectionModule import getLaneCurve
from utils import initializeTrackbars
import WebcamModule import WebcamModule
car = kuukar()
################################################## ##################################################
############### MAIN ROBOT LANE ################## ############### MAIN ROBOT LANE ##################
################################################## ##################################################
def main(): def main():
img = WebcamModule.getImg() img = WebcamModule.getImg()
curveVal= getLaneCurve(img,1) curveVal= getLaneCurve(img,2)
sen = 1.3 # SENSITIVITY sen = 1.3 # SENSITIVITY
maxVAl= 0.3 # 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
#print(curveVal) #print(curveVal)
@ -22,10 +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
motor.move(0.20,-curveVal*sen,0.05) car.motion.skt_drive(0.15,-curveVal*sen,0.05)
print(curveVal)
cv2.waitKey(1) cv2.waitKey(1)
if __name__ == '__main__': if __name__ == '__main__':
initialTrackBarVals = [98, 141, 77, 220]
initializeTrackbars(initialTrackBarVals)
while True: while True:
main() main()