def drive(screen):
lanes = ip.detect_lanes(screen)
try:
left_line = lanes[0]
right_line = lanes[1]
slope_left = ip.calc_slope(left_line[0][0], left_line[0][1],
left_line[0][2], left_line[0][3])
slope_right = ip.calc_slope(right_line[0][0], right_line[0][1],
right_line[0][2], right_line[0][3])
print(slope_left)
print(slope_right)
if slope_left == 0:
print("crossroad")
kp.turn_left()
elif slope_left < 0 and slope_right < 0:
print("turn right")
kp.turn_right_f()
elif slope_left > 0 and slope_right > 0:
print("turn left")
kp.turn_left_f()
else:
print("forward")
kp.forward()
except TypeError:
return None
def main():
global stopped
print("OH BOY")
while (True):
if 'P' in key_check():
stopped = not stopped
print('Stopped' if stopped else 'Resumed')
kp.full_stop()
time.sleep(1)
if not stopped:
screen = np.array(ImageGrab.grab(bbox=(50, 50, 800, 650)))
screen = cv2.cvtColor(screen, cv2.COLOR_RGB2GRAY)
#cv2.imshow('window',screen)
screen = cv2.resize(screen, (WIDTH, HEIGHT))
prediction = model.predict([screen.reshape(WIDTH, HEIGHT, 1)])[0]
print(prediction)
if prediction[1] > fw_threshold:
kp.forward()
elif prediction[0] > left_threshold:
kp.turn_left_f()
elif prediction[2] > right_threshold:
kp.turn_right_f()
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
def drive2(screen):
lines = ip.get_lines(screen)
weight = 0
try:
for line in lines:
for x1, y1, x2, y2 in line:
angle = ip.calc_slope(x1, y1, x2, y2)
angle_weight = math.cos(angle)
if (angle_weight < 0):
weight -= 1
elif (angle_weight > 0):
weight += 1
print(weight)
if (abs(weight) < round(len(lines) * 0.6)):
kp.forward()
elif (weight > 0):
kp.turn_left_f()
elif (weight < 0):
kp.turn_right_r()
except TypeError:
print("no lines man")