43 lines
1.0 KiB
Python
43 lines
1.0 KiB
Python
import cv2
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from kuukar.kuukar import kuukar
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from LaneDetectionModule import getLaneCurve
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from utils import initializeTrackbars
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import WebcamModule
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car = kuukar()
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##################################################
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############### MAIN ROBOT LANE ##################
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##################################################
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def main():
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img = WebcamModule.getImg()
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curveVal= getLaneCurve(img,2)
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sen = 0.8 # SENSITIVITY
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maxVAl= 1.0 # MAX SPEED
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if curveVal>maxVAl:curveVal = maxVAl
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if curveVal<-maxVAl: curveVal =-maxVAl
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#print(curveVal)
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if curveVal>0:
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sen =1.7
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if curveVal<0.05: curveVal=0
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else:
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if curveVal>-0.08: curveVal=0
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car.motion.skt_drive(0.4,-curveVal*sen,0.05)
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turn_value = -curveVal*sen
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print("Curve Value : " + str(curveVal) + " Turn Value : "+ str(round(turn_value,2))
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cv2.waitKey(1)
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if __name__ == '__main__':
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initialTrackBarVals = [70, 124, 4, 195]
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initializeTrackbars(initialTrackBarVals)
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while True:
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main()
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