From 01cb1398026d48620cb156b52b00d64c320b5877 Mon Sep 17 00:00:00 2001 From: Siwat Sirichai Date: Sat, 10 Dec 2022 14:20:20 +0700 Subject: [PATCH 1/2] change_Track --- LaneDetectionModule.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LaneDetectionModule.py b/LaneDetectionModule.py index 88e4855..b0bd508 100644 --- a/LaneDetectionModule.py +++ b/LaneDetectionModule.py @@ -79,7 +79,7 @@ def getLaneCurve(img, display = 2): if __name__ == '__main__': cap = cv2.VideoCapture(0) - initialTrackBarVals = [96, 139, 48, 218] + initialTrackBarVals = [96, 139, 15, 218] utils.initializeTrackbars(initialTrackBarVals) frameCounter = 0 curveList = [] From 04c1f51b882c62f2955f55fd851ca86ab34ed6b2 Mon Sep 17 00:00:00 2001 From: Siwat Sirichai Date: Sat, 10 Dec 2022 14:20:28 +0700 Subject: [PATCH 2/2] skt drive --- kuukar/kuukar_motion.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py index 1642565..a1a3d82 100644 --- a/kuukar/kuukar_motion.py +++ b/kuukar/kuukar_motion.py @@ -88,6 +88,22 @@ 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)