skt drive

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 = []

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)