From d49285d210732efff2fa1f54afff9fffb12a898a Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Sat, 10 Dec 2022 20:49:21 +0700
Subject: [PATCH] Create Main Robot Lane

Create Main Robot Lane and WebcamModule
---
 kuukar/MainRobotLane.py | 31 +++++++++++++++++++++++++++++++
 kuukar/WebcamModule.py  | 14 ++++++++++++++
 2 files changed, 45 insertions(+)
 create mode 100644 kuukar/MainRobotLane.py
 create mode 100644 kuukar/WebcamModule.py

diff --git a/kuukar/MainRobotLane.py b/kuukar/MainRobotLane.py
new file mode 100644
index 0000000..95347fb
--- /dev/null
+++ b/kuukar/MainRobotLane.py
@@ -0,0 +1,31 @@
+
+from kuukar import kuukar_motion
+from LaneDetectionModule import getLaneCurve
+import WebcamModule
+ 
+##################################################
+############### MAIN ROBOT LANE ##################
+##################################################
+ 
+def main():
+ 
+    img = WebcamModule.getImg()
+    curveVal= getLaneCurve(img,1)
+ 
+    sen = 1.3  # SENSITIVITY
+    maxVAl= 0.3 # 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
+    motor.move(0.20,-curveVal*sen,0.05)
+    cv2.waitKey(1)
+     
+ 
+if __name__ == '__main__':
+    while True:
+        main()
\ No newline at end of file
diff --git a/kuukar/WebcamModule.py b/kuukar/WebcamModule.py
new file mode 100644
index 0000000..0a56138
--- /dev/null
+++ b/kuukar/WebcamModule.py
@@ -0,0 +1,14 @@
+import cv2
+ 
+cap = cv2.VideoCapture(0)
+ 
+def getImg(display= False,size=[480,240]):
+    _, img = cap.read()
+    img = cv2.resize(img,(size[0],size[1]))
+    if display:
+        cv2.imshow('IMG',img)
+    return img
+ 
+if __name__ == '__main__':
+    while True:
+        img = getImg(True)
\ No newline at end of file