def __init__(self):
picar.setup()
self.REFERENCES = [20.5, 25.0, 28.0, 21.5, 20.5]
# self.calibrate = True
self.calibrate = False
self.forward_speed = 40
self.turning_angle = 45
self.delay = 0.0005
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.lf = Line_Follower.Line_Follower()
self.lf.references = self.REFERENCES
self.fw.ready()
self.bw.ready()
self.fw.turning_max = 60
REFERENCES = [200, 200, 200, 200, 200]
# calibrate = True
calibrate = False
forward_speed = 80
backward_speed = 70
turning_angle = 40
dooms_day = False
max_off_track_count = 40
delay = 0.0005
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
lf = Line_Follower.Line_Follower()
lf.references = REFERENCES
fw.ready()
bw.ready()
fw.turning_max = 45
# Picar Ultrasonic init
UA = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
# PICAR ORDERS
def order(value):
if "SPEED" in value.upper():
speed = value.split(':')
bw.speed = int(speed[1])