finalize code

MainRobotLane.py

@@ -1,3 +1,4 @@
+from time import perf_counter
 import cv2
 from kuukar.kuukar import kuukar
 from LaneDetectionModule import getLaneCurve
@@ -5,7 +6,6 @@ from utils import initializeTrackbars
 import WebcamModule
 from threading import Thread
 global speed, sen, car, delay
-from time import perf_counter
 sen = 1
 speed = 0
 delay = 0.15
@@ -14,27 +14,34 @@ car = kuukar()
 ##################################################
 ############### MAIN ROBOT LANE ##################
 ##################################################
+
+
 def main():
     global speed, sen, car, delay
     while True:
         stt = perf_counter()
         img = WebcamModule.getImg()
-        curveVal= getLaneCurve(img,2)
-        maxVAl= 1.0 # 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
+        curveVal = getLaneCurve(img, 2)
+        maxVAl = 1.0  # 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
-        car.motion.skt_drive(speed,-curveVal*sen,delay)
+            if curveVal > -0.08:
+                curveVal = 0
+        car.motion.skt_drive(speed, -curveVal*sen, delay)
         turn_value = -curveVal*sen
         #print("Curve Value : " + str(curveVal) + " Turn Value : "+ str(round(turn_value,2)))
         #print(f"looptime: {perf_counter()-stt}s")
         cv2.waitKey(1)
-    
+
+
 if __name__ == '__main__':
     initialTrackBarVals = [107, 134, 89, 221]
     initializeTrackbars(initialTrackBarVals)
@@ -43,7 +50,3 @@ if __name__ == '__main__':
         speed = float(input("speed: "))
         sen = float(input("sen: "))
         delay = float(input("delay: "))
-    
-    
-        
-

app.py

@@ -1,24 +1,5 @@
-import time
-# from telemetrix_rpi_pico import telemetrix_rpi_pico
-# import kuukar.kuukar_leds as kuukar_leds
-# import kuukar.kuukar_collision as kuukar_collision
-# import kuukar.kuukar_motion as kuukar_motion
-# import kuukar.kuukar_lcd as kuukar_lcd
-# import kuukar.kuukar_sensors as kuukar_sensors
-# import kuukar.kuukar_environment as kuukar_environment
-
-# from kuukar.kuukar_config import SERIAL_MCU, SERIAL_DRV
-
 from kuukar.kuukar import kuukar
-
-# mcu = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_MCU, sleep_tune=0.001)
-# drv = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRV, sleep_tune=0.001)
-# sensors = kuukar_sensors.sensors(mcu)
-# leds = kuukar_leds.leds(mcu)
-# motion = kuukar_motion.motion(mcu, drv, leds, sensors)
-# lcd = kuukar_lcd.lcd(motion, sensors)
-# environment = kuukar_environment.environment(lcd, leds, sensors)
-# collision = kuukar_collision.collision(mcu, lcd, leds)
+import time
 
 car = kuukar()
 while True:

kuukar/kuukar.py

@@ -22,4 +22,4 @@ class kuukar:
             self.lcd, self.leds, self.sensors)
         self.collision = kuukar_collision.collision(
             self.mcu, self.lcd, self.leds)
-        self.cv = kuukar_cv.cv(self.lcd,self.leds)
+        self.cv = kuukar_cv.cv(self.lcd, self.leds, self.motion)

kuukar/kuukar_collision.py

@@ -3,15 +3,18 @@ from kuukar.kuukar_config import COLLISION_DETECTOR_PIN, COLLISION_ENABLE
 
 from kuukar.kuukar_lcd import lcd
 from kuukar.kuukar_leds import leds
+
+
 class collision:
     def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, lcd: lcd, leds: leds) -> None:
         self.mcu = mcu
         self.lcd = lcd
         self.leds = leds
         if COLLISION_ENABLE:
-            self.mcu.set_pin_mode_digital_input(COLLISION_DETECTOR_PIN, self.collision_handle)
-        
+            self.mcu.set_pin_mode_digital_input(
+                COLLISION_DETECTOR_PIN, self.collision_handle)
+
     def collision_handle(self, data):
         val = data[2]
         if val == 1:
-            self.lcd.play_video("keke_hurt")
+            self.lcd.play_video("keke_hurt")

kuukar/kuukar_config.py

@@ -31,4 +31,3 @@ REVERSE_LEDS = [11, 10, 9]
 LIGHT_SENSOR_PIN = 0
 
 DHT22_PIN = 3
-

kuukar/kuukar_cv.py

@@ -1,34 +1,36 @@
 from kuukar.kuukar_lcd import lcd
 from kuukar.kuukar_leds import leds
+from kuukar.kuukar_motion import motion
 import threading
 import multiprocessing
 import cv2
 
 
-
 class cv:
-    def __init__(self, lcd: lcd, leds: leds) -> None:
+    def __init__(self, lcd: lcd, leds: leds, motion: motion) -> None:
+        self.motion = motion
         self.lcd = lcd
         self.leds = leds
-        #self.camera = cv2.VideoCapture(0)
-        #threading.Thread(target=self._cv_loop).start()
+        self.camera = cv2.VideoCapture(0)
+        threading.Thread(target=self._cv_loop).start()
 
     def _cv_loop(self):
         while True:
             img = self.capture_image()
-            ##stop_sign = self.detect_sign(img)
-            
+            stop_signs = self.detect_sign(img)
+            if len(stop_signs) >= 1:  # Stop Sign Found~!
+                self.motion.stop()
+
     def get_road_curve(self, frame):
         pass
 
     def capture_image(self):
         ret, frame = self.camera.read()
         return frame
-    
+
     def detect_sign(self, frame):
         stopsign_cascade = cv2.CascadeClassifier('./stopsign_good.xml')
         image = frame.array
-        gray_img=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
-        found_stopsigns=stopsign_cascade.detectMultiScale(gray_img,1.1,5)
+        gray_img = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+        found_stopsigns = stopsign_cascade.detectMultiScale(gray_img, 1.1, 5)
         return found_stopsigns
-

kuukar/kuukar_environment.py

@@ -8,17 +8,18 @@ from kuukar.kuukar_sensors import sensors
 class environment:
     t_alerted = False
     h_alerted = False
+
     def __init__(self, lcd: lcd, leds: leds, sensors: sensors) -> None:
         self.lcd = lcd
         self.leds = leds
         self.sensors = sensors
         threading.Thread(target=self.__checker).start()
-    
+
     def __checker(self):
         while True:
             if self.sensors.get_temperature() > 38.0:
                 if not self.t_alerted:
-                    #self.lcd.play_video("keke_died")
+                    self.lcd.play_video("keke_hurt")
                     self.t_alerted = True
             else:
                 self.t_alerted = False
@@ -34,4 +35,4 @@ class environment:
                 self.leds.set_headlights(True)
             else:
                 self.leds.set_headlights(False)
-            sleep(1)
+            sleep(1)

kuukar/kuukar_lcd.py

@@ -51,7 +51,8 @@ class lcd:
                     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)
+                        self.motion.drive_skew(speed, turn)
+
     def _sensor_screen_updator(self):
         while True:
             self.nextion.send_command(

kuukar/kuukar_leds.py

@@ -18,7 +18,7 @@ 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 = [2, 2, 10] #Keke Image Color
+        self.ambient_light = [2, 2, 10]  # Keke Image Color
         self.__update_leds()
 
     def set_headlights(self, state: bool):

kuukar/kuukar_motion.py

@@ -71,17 +71,16 @@ class motion:
             self.leds.set_right_signal_led(False)
             self.leds.set_left_signal_led(True)
 
-
         lm_speed = (100+dir/2)*speed/100
-        if lm_speed>99:
+        if lm_speed > 99:
             lm_speed = 99
-        elif 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;
+            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)
@@ -119,16 +118,22 @@ class motion:
     '''
 
     def skt_drive(self, speed: float, turn: float, t=0):
-        speed *=100
-        turn *=100
+        speed *= 100
+        turn *= 100
         leftSpeed = speed - turn
         rightSpeed = speed + turn
-        if leftSpeed>99: leftSpeed=99
-        elif leftSpeed<-99: leftSpeed= -99
-        if rightSpeed>99: rightSpeed=99
-        elif rightSpeed<-99: rightSpeed= -99
-        if speed>99: speed=99
-        elif speed<-99: speed= -99
+        if leftSpeed > 99:
+            leftSpeed = 99
+        elif leftSpeed < -99:
+            leftSpeed = -99
+        if rightSpeed > 99:
+            rightSpeed = 99
+        elif rightSpeed < -99:
+            rightSpeed = -99
+        if speed > 99:
+            speed = 99
+        elif speed < -99:
+            speed = -99
 
         self.motor_write(MOTOR_FL_F, MOTOR_FL_R, abs(leftSpeed))
         self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
@@ -136,7 +141,6 @@ class motion:
         #self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
         time.sleep(t)
 
-
     def stop(self):
         self.leds.set_left_signal_led(False)
         self.leds.set_right_signal_led(False)
@@ -159,12 +163,12 @@ class motion:
         while True:
             if self.roaming:
                 self.__roam_handle()
-            time.sleep(0.5)
+            time.sleep(0.1)
 
     def __roam_handle(self):
-        if self.sensors.sonar_get_distance()<500:
-            self.turn(30,2000)
+        if self.sensors.sonar_get_distance() < 900:
+            self.turn(32, 2600)
             self.drive(25)
-            time.sleep(0.5)
+
         if not self.roaming:
-            self.stop()
+            self.stop()