MainRobotLane.py

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

kuukar/kuukar_motion.py

@@ -134,7 +134,7 @@ class motion:
         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_RR_F, MOTOR_RR_R, speed)
-        time.sleep(t)
+
 
 
     def stop(self):