43 lines
1.0 KiB
Python
43 lines
1.0 KiB
Python
import cv2
|
|
from kuukar.kuukar import kuukar
|
|
from LaneDetectionModule import getLaneCurve
|
|
from utils import initializeTrackbars
|
|
import WebcamModule
|
|
|
|
car = kuukar()
|
|
|
|
|
|
##################################################
|
|
############### MAIN ROBOT LANE ##################
|
|
##################################################
|
|
|
|
def main():
|
|
|
|
|
|
|
|
img = WebcamModule.getImg()
|
|
curveVal= getLaneCurve(img,2)
|
|
|
|
sen = 0.8 # SENSITIVITY
|
|
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(0.4,-curveVal*sen,0.05)
|
|
turn_value = -curveVal*sen
|
|
print("Curve Value : " + str(curveVal) + "Turn Value : "+ str(turn_value))
|
|
cv2.waitKey(1)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
initialTrackBarVals = [70, 124, 4, 195]
|
|
initializeTrackbars(initialTrackBarVals)
|
|
|
|
while True:
|
|
main()
|