implement skew drive

kuukar.service

@@ -0,0 +1,11 @@
+[Unit]
+After=network.target
+Description=KuuKar Primary Application
+
+[Service]
+Type=idle
+User=pi
+ExecStart=/usr/bin/python3 /home/pi/kuukar-rpi/app.py
+
+[Install]
+WantedBy=multi-user.target

kuukar/kuukar_lcd.py

@@ -38,8 +38,10 @@ class lcd:
         if page == 1 and component_id == 2 and press_type == '01':
             if self.nextion.get_attribute("aiTG.val"):
                 print("AI Drive Activated")
+                self.motion.roam_start()
             else:
                 print("AI Drive Deactivated")
+                self.motion.roam_stop()
         elif page == 3:
             if component_id == 2 and press_type == '00':
                 x = self.nextion.get_attribute("joystick.x")
@@ -47,7 +49,8 @@ class lcd:
                 speed = 100 - (y - 60) / (205 - 60) * 200
                 turn = (x - 5) / (150 - 5) * 200 - 100
                 print(f"Setting speed to {speed} and turn angle to {turn}")
-
+                if not self.motion.is_roaming():
+                    self.motion.drive_skew(speed,turn)
     def _sensor_screen_updator(self):
         while True:
             self.nextion.send_command(
@@ -57,5 +60,5 @@ class lcd:
             self.nextion.send_command(
                 f"brightnessTXT.txt=\"{self.sensors.get_brightness_pct()}\"")
             self.nextion.send_command(
-                f"sonarTXT.txt=\"{int(self.sensors.sonar_get_distance(0))} / {int(self.sensors.sonar_get_distance(1))} / {int(self.sensors.sonar_get_distance(2))}\"")
+                f"sonarTXT.txt=\"{int(self.sensors.sonar_get_distance(2))} / {int(self.sensors.sonar_get_distance(1))} / {int(self.sensors.sonar_get_distance(0))}\"")
             sleep(1)

kuukar/kuukar_leds.py

@@ -18,9 +18,11 @@ class leds:
     def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
         self.mcu = mcu
         self.mcu.set_pin_mode_neopixel(LEDS_DATA_PIN, LEDS_NUM)
+        self.ambient_light = [5, 5, 25] #Keke Image Color
+        self.__update_leds()
 
     def set_headlights(self, state: bool):
-        headlight = True
+        self.headlight = state
         self.__update_leds()
 
     def set_left_signal_led(self, state: bool):
@@ -40,11 +42,12 @@ class leds:
         self.__update_leds()
 
     def __update_leds(self):
-        self.mcu.neopixel_fill(r=self.ambient_light[0], g=self.ambient_light[1], b=self.ambient_light[2])
+        self.mcu.neopixel_fill(
+            r=self.ambient_light[0], g=self.ambient_light[1], b=self.ambient_light[2])
         if self.headlight:
             for led in HEADLIGHT_LEDS:
                 self.mcu.neo_pixel_set_value(led, self.headlight * 255, self.headlight * 255,
-                                                   self.headlight * 255)
+                                             self.headlight * 255)
         if self.left_signal:
             for led in LEFT_SIGNAL_LEDS:
                 self.mcu.neo_pixel_set_value(led, 255, 0, 0)

kuukar/kuukar_motion.py

@@ -60,6 +60,28 @@ class motion:
         self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
         self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
 
+    def drive_skew(self, speed: float, dir: float):
+        if dir > 0:
+            self.leds.set_right_signal_led(True)
+        elif dir < 0:
+            self.leds.set_left_signal_led(True)
+
+        lm_speed = (100+dir/2)*speed/100
+        if lm_speed>99:
+            lm_speed = 99
+        elif lm_speed<-99:
+            lm_speed = -99
+        rm_speed = (100-dir/2)*speed/100
+        if rm_speed > 99:
+            rm_speed = 99
+        elif rm_speed < -99:
+            rm_speed = -99;
+
+        self.motor_write(MOTOR_FL_F, MOTOR_FL_R, lm_speed)
+        self.motor_write(MOTOR_FR_F, MOTOR_FR_R, rm_speed)
+        self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed)
+        self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed)
+        
     def stop(self):
         self.leds.set_left_signal_led(False)
         self.leds.set_right_signal_led(False)
@@ -72,6 +94,9 @@ class motion:
     def roam_stop(self):
         self.roaming = False
 
+    def is_roaming(self) -> bool:
+        return self.roaming
+
     def __roam_looper(self):
         while True:
             if self.roaming: