LaneDetectionModule.py

@@ -79,7 +79,7 @@ def getLaneCurve(img, display = 2):
 
 if __name__ == '__main__':
     cap = cv2.VideoCapture(0)
-    initialTrackBarVals = [96, 139, 15, 218]
+    initialTrackBarVals = [96, 139, 48, 218]
     utils.initializeTrackbars(initialTrackBarVals)
     frameCounter = 0
     curveList = []

kuukar/kuukar_motion.py

@@ -88,22 +88,6 @@ class motion:
         self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed)
         self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed)
         
-    def skt_drive(self, speed: float, turn: float, t=0):
-        speed *=100
-        turn *=100
-        leftSpeed = speed - turn
-        rightSpeed = speed + turn
-        if leftSpeed>100: leftSpeed=100
-        elif leftSpeed<-100: leftSpeed= -100
-        if rightSpeed>100: rightSpeed=100
-        elif rightSpeed<-100: rightSpeed= -100
-
-        self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
-        self.motor_write(MOTOR_FR_F, MOTOR_FR_R, speed)
-        self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
-        self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
-
-
     def stop(self):
         self.leds.set_left_signal_led(False)
         self.leds.set_right_signal_led(False)