From ad16c4908ee4159f5ee24c2135c49f2d93f5da39 Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Sun, 11 Dec 2022 21:34:17 +0700
Subject: [PATCH] Keyboard+motion+RobotLane

---
 KeyPressModule.py       | 27 +++++++++++++++++++++++++++
 MainRobotLane.py        |  2 +-
 RobotMain2.py           | 22 ++++++++++++++++++++++
 kuukar/kuukar_cv.py     |  2 +-
 kuukar/kuukar_motion.py |  4 ++--
 5 files changed, 53 insertions(+), 4 deletions(-)
 create mode 100644 KeyPressModule.py
 create mode 100644 RobotMain2.py

diff --git a/KeyPressModule.py b/KeyPressModule.py
new file mode 100644
index 0000000..a1a40f3
--- /dev/null
+++ b/KeyPressModule.py
@@ -0,0 +1,27 @@
+import pygame
+ 
+def init():
+    pygame.init()
+    win = pygame.display.set_mode((100,100))
+ 
+def getKey(keyName):
+    ans = False
+    for eve in pygame.event.get():pass
+    keyInput = pygame.key.get_pressed()
+    myKey = getattr(pygame,'K_{}'.format(keyName))
+    if keyInput [myKey]:
+        ans = True
+    pygame.display.update()
+ 
+    return ans
+ 
+def main():
+    if getKey('LEFT'):
+        print('Key Left was pressed')
+    if getKey('RIGHT'):
+        print('Key Right was pressed')
+ 
+if __name__ == '__main__':
+    init()
+    while True:
+        main()
\ No newline at end of file
diff --git a/MainRobotLane.py b/MainRobotLane.py
index c9b6cf8..5f79a11 100644
--- a/MainRobotLane.py
+++ b/MainRobotLane.py
@@ -30,7 +30,7 @@ def main():
         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(turn_value))
+    print("Curve Value : " + str(curveVal) + " Turn Value : "+ str(round(turn_value,2))
     cv2.waitKey(1)
      
  
diff --git a/RobotMain2.py b/RobotMain2.py
new file mode 100644
index 0000000..a93a1e7
--- /dev/null
+++ b/RobotMain2.py
@@ -0,0 +1,22 @@
+from kuukar.kuukar import kuukar
+import KeyPressModule as kp
+
+car = kuukar()
+kp.init()
+
+def main(self):
+
+    if kp.getKey('UP'):
+        car.motion.skt_drive(0.4,0.0,0.05)
+    elif kp.getKey('DOWN'):
+        car.motion.skt_drive(-0.4,0.0,0.05)
+    elif kp.getKey('LEFT'):
+        car.motion.skt_drive(0.5,0.3,0.05)
+    elif kp.getKey('RIGHT'):
+        car.motion.skt_drive(0.5,-0.3,0.05)
+    else:
+        car.motion.stop()
+
+if __name__ == '__main__':
+    while True:
+        main()
\ No newline at end of file
diff --git a/kuukar/kuukar_cv.py b/kuukar/kuukar_cv.py
index fc2e8cc..63b6cea 100644
--- a/kuukar/kuukar_cv.py
+++ b/kuukar/kuukar_cv.py
@@ -16,7 +16,7 @@ class cv:
     def _cv_loop(self):
         while True:
             img = self.capture_image()
-            stop_sign = self.detect_sign(img)
+            ##stop_sign = self.detect_sign(img)
             
     def get_road_curve(self, frame):
         pass
diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index 7cffff4..444316a 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)