From 8e31b4c15975146a3657728d91f296a7abf9dd91 Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Mon, 12 Dec 2022 16:10:23 +0700
Subject: [PATCH] .

---
 MainRobotLane.py        | 69 +++++++++++++++++++++++------------------
 kuukar/kuukar_cv.py     |  5 +--
 kuukar/kuukar_motion.py |  4 +--
 3 files changed, 43 insertions(+), 35 deletions(-)

diff --git a/MainRobotLane.py b/MainRobotLane.py
index 5f79a11..e6fa26b 100644
--- a/MainRobotLane.py
+++ b/MainRobotLane.py
@@ -3,40 +3,47 @@ from kuukar.kuukar import kuukar
 from LaneDetectionModule import getLaneCurve
 from utils import initializeTrackbars
 import WebcamModule
-
+from threading import Thread
+global speed, sen, car, delay
+from time import perf_counter
+sen = 1
+speed = 0
+delay = 0.15
 car = kuukar()
- 
- 
+
 ##################################################
 ############### MAIN ROBOT LANE ##################
 ##################################################
- 
 def main():
-    
-    
-    
-    img = WebcamModule.getImg()
-    curveVal= getLaneCurve(img,2)
- 
-    sen = 0.8  # SENSITIVITY
-    maxVAl= 1.0 # MAX SPEED
-    if curveVal>maxVAl:curveVal = maxVAl
-    if curveVal<-maxVAl: curveVal =-maxVAl
-    #print(curveVal)
-    if curveVal>0:
-        sen =1.7
-        if curveVal<0.05: curveVal=0
-    else:
-        if curveVal>-0.08: curveVal=0
-    car.motion.skt_drive(0.4,-curveVal*sen,0.05)
-    turn_value = -curveVal*sen
-    print("Curve Value : " + str(curveVal) + " Turn Value : "+ str(round(turn_value,2))
-    cv2.waitKey(1)
-     
- 
-if __name__ == '__main__':
-    initialTrackBarVals = [70, 124, 4, 195]
-    initializeTrackbars(initialTrackBarVals)
-    
+    global speed, sen, car, delay
     while True:
-        main()
+        stt = perf_counter()
+        img = WebcamModule.getImg()
+        curveVal= getLaneCurve(img,2)
+        maxVAl= 1.0 # MAX SPEED
+        if curveVal>maxVAl:curveVal = maxVAl
+        if curveVal<-maxVAl: curveVal =-maxVAl
+        #print(curveVal)
+        if curveVal>0:
+            sen =1.7
+            if curveVal<0.05: curveVal=0
+        else:
+            if curveVal>-0.08: curveVal=0
+        car.motion.skt_drive(speed,-curveVal*sen,delay)
+        turn_value = -curveVal*sen
+        #print("Curve Value : " + str(curveVal) + " Turn Value : "+ str(round(turn_value,2)))
+        #print(f"looptime: {perf_counter()-stt}s")
+        cv2.waitKey(1)
+    
+if __name__ == '__main__':
+    initialTrackBarVals = [107, 134, 89, 221]
+    initializeTrackbars(initialTrackBarVals)
+    Thread(target=main).start()
+    while True:
+        speed = float(input("speed: "))
+        sen = float(input("sen: "))
+        delay = float(input("delay: "))
+    
+    
+        
+
diff --git a/kuukar/kuukar_cv.py b/kuukar/kuukar_cv.py
index 63b6cea..1f24c36 100644
--- a/kuukar/kuukar_cv.py
+++ b/kuukar/kuukar_cv.py
@@ -10,8 +10,8 @@ class cv:
     def __init__(self, lcd: lcd, leds: leds) -> None:
         self.lcd = lcd
         self.leds = leds
-        self.camera = cv2.VideoCapture(0)
-        threading.Thread(target=self._cv_loop).start()
+        #self.camera = cv2.VideoCapture(0)
+        #threading.Thread(target=self._cv_loop).start()
 
     def _cv_loop(self):
         while True:
@@ -31,3 +31,4 @@ class cv:
         gray_img=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
         found_stopsigns=stopsign_cascade.detectMultiScale(gray_img,1.1,5)
         return found_stopsigns
+
diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index 444316a..13cbec0 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -132,8 +132,8 @@ class motion:
 
         self.motor_write(MOTOR_FL_F, MOTOR_FL_R, abs(leftSpeed))
         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_RR_F, MOTOR_RR_R, speed)
+        #self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
+        #self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
         time.sleep(t)