Keyboard+motion+RobotLane

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()

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)
      
  

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()

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

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_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)