project-KuuKar
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kuukar-rpi
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base: project-KuuKar:f0fed976cf8b093acaa980b7bf794db92b014dfd
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project-KuuKar:main
project-KuuKar:lite
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compare: project-KuuKar:93f09ecbf7539c911933e0b41c7ca4e733d24743
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project-KuuKar:lite
project-KuuKar:main

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2 changed files with 6 additions and 7 deletions
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11
MainRobotLane.py
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@ -18,7 +18,7 @@ def main():
img = WebcamModule.getImg() img = WebcamModule.getImg()
curveVal= getLaneCurve(img,2) curveVal= getLaneCurve(img,2)
sen = 0.8 # SENSITIVITY sen = 1.3 # SENSITIVITY
maxVAl= 1.0 # MAX SPEED maxVAl= 1.0 # MAX SPEED
if curveVal>maxVAl:curveVal = maxVAl if curveVal>maxVAl:curveVal = maxVAl
if curveVal<-maxVAl: curveVal =-maxVAl if curveVal<-maxVAl: curveVal =-maxVAl
@ -28,15 +28,14 @@ def main():
if curveVal<0.05: curveVal=0 if curveVal<0.05: curveVal=0
else: else:
if curveVal>-0.08: curveVal=0 if curveVal>-0.08: curveVal=0
car.motion.skt_drive(0.3,-curveVal*sen) car.motion.skt_drive(0.15,-curveVal*sen,0.05)
turn_value = -curveVal*sen print(curveVal)
print("Curve Value : " + curveVal + "Turn Value : "+ turn_value)
cv2.waitKey(1) cv2.waitKey(1)
if __name__ == '__main__': if __name__ == '__main__':
initialTrackBarVals = [70, 124, 4, 195] initialTrackBarVals = [98, 141, 77, 220]
initializeTrackbars(initialTrackBarVals) initializeTrackbars(initialTrackBarVals)
while True: while True:
main() main()

2
kuukar/kuukar_motion.py
View File

@ -134,7 +134,7 @@ class motion:
self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed)) self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
##self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed) ##self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
##self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed) ##self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
time.sleep(t)
def stop(self): def stop(self):