kuukar.service

@@ -1,11 +0,0 @@
-[Unit]
-After=network.target
-Description=KuuKar Primary Application
-
-[Service]
-Type=idle
-User=pi
-ExecStart=/usr/bin/python3 /home/pi/kuukar-rpi/app.py
-
-[Install]
-WantedBy=multi-user.target

kuukar/kuukar_lcd.py

@@ -38,10 +38,8 @@ class lcd:
         if page == 1 and component_id == 2 and press_type == '01':
             if self.nextion.get_attribute("aiTG.val"):
                 print("AI Drive Activated")
-                self.motion.roam_start()
             else:
                 print("AI Drive Deactivated")
-                self.motion.roam_stop()
         elif page == 3:
             if component_id == 2 and press_type == '00':
                 x = self.nextion.get_attribute("joystick.x")
@@ -49,8 +47,7 @@ class lcd:
                 speed = 100 - (y - 60) / (205 - 60) * 200
                 turn = (x - 5) / (150 - 5) * 200 - 100
                 print(f"Setting speed to {speed} and turn angle to {turn}")
-                if not self.motion.is_roaming():
+
-                    self.motion.drive_skew(speed,turn)
     def _sensor_screen_updator(self):
         while True:
             self.nextion.send_command(
@@ -60,5 +57,5 @@ class lcd:
             self.nextion.send_command(
                 f"brightnessTXT.txt=\"{self.sensors.get_brightness_pct()}\"")
             self.nextion.send_command(
-                f"sonarTXT.txt=\"{int(self.sensors.sonar_get_distance(2))} / {int(self.sensors.sonar_get_distance(1))} / {int(self.sensors.sonar_get_distance(0))}\"")
+                f"sonarTXT.txt=\"{int(self.sensors.sonar_get_distance(0))} / {int(self.sensors.sonar_get_distance(1))} / {int(self.sensors.sonar_get_distance(2))}\"")
             sleep(1)

kuukar/kuukar_leds.py

@@ -18,11 +18,9 @@ class leds:
     def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
         self.mcu = mcu
         self.mcu.set_pin_mode_neopixel(LEDS_DATA_PIN, LEDS_NUM)
-        self.ambient_light = [5, 5, 25] #Keke Image Color
-        self.__update_leds()
 
     def set_headlights(self, state: bool):
-        self.headlight = state
+        headlight = True
         self.__update_leds()
 
     def set_left_signal_led(self, state: bool):
@@ -42,12 +40,11 @@ class leds:
         self.__update_leds()
 
     def __update_leds(self):
-        self.mcu.neopixel_fill(
+        self.mcu.neopixel_fill(r=self.ambient_light[0], g=self.ambient_light[1], b=self.ambient_light[2])
-            r=self.ambient_light[0], g=self.ambient_light[1], b=self.ambient_light[2])
         if self.headlight:
             for led in HEADLIGHT_LEDS:
                 self.mcu.neo_pixel_set_value(led, self.headlight * 255, self.headlight * 255,
-                                             self.headlight * 255)
+                                                   self.headlight * 255)
         if self.left_signal:
             for led in LEFT_SIGNAL_LEDS:
                 self.mcu.neo_pixel_set_value(led, 255, 0, 0)

kuukar/kuukar_motion.py

@@ -60,28 +60,6 @@ class motion:
         self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
         self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
 
-    def drive_skew(self, speed: float, dir: float):
-        if dir > 0:
-            self.leds.set_right_signal_led(True)
-        elif dir < 0:
-            self.leds.set_left_signal_led(True)
-
-        lm_speed = (100+dir/2)*speed/100
-        if lm_speed>99:
-            lm_speed = 99
-        elif lm_speed<-99:
-            lm_speed = -99
-        rm_speed = (100-dir/2)*speed/100
-        if rm_speed > 99:
-            rm_speed = 99
-        elif rm_speed < -99:
-            rm_speed = -99;
-
-        self.motor_write(MOTOR_FL_F, MOTOR_FL_R, lm_speed)
-        self.motor_write(MOTOR_FR_F, MOTOR_FR_R, rm_speed)
-        self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed)
-        self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed)
-        
     def stop(self):
         self.leds.set_left_signal_led(False)
         self.leds.set_right_signal_led(False)
@@ -94,9 +72,6 @@ class motion:
     def roam_stop(self):
         self.roaming = False
 
-    def is_roaming(self) -> bool:
-        return self.roaming
-
     def __roam_looper(self):
         while True:
             if self.roaming:

rpi_install.sh

@@ -1,6 +0,0 @@
-sudo apt update
-sudo apt install python3 python3-pip
-pip3 install -r ./requirements.txt
-ln -s ./kuukar.service /etc/systemd/system/kuukar.service
-sudo systemctl kuukar enable
-sudo systemctl kuukar start

rpi_update.sh

@@ -1,4 +0,0 @@
-git stash
-git pull
-cp -fv ../kuukar_config.py ./kuukar/kuukar_config.py
-service kuukar restart