from MotorModule import Motor
from LaneModule import getLaneCurve
import WebcamModule as webcam
import utils
import cv2
##################################################
motor = Motor(2, 3, 4, 17, 22, 27)
##################################################
def main():
img = webcam.getImg()
curveVal = getLaneCurve(img, display=1)
#print(curveVal)
sen = 1.3 # SENSITIVITY
maxVAl = 0.3 # MAX SPEED
if curveVal > maxVAl: curveVal = maxVAl
if curveVal < -maxVAl: curveVal = -maxVAl
if curveVal > 0:
sen = 1.7
if curveVal < 0.05: curveVal = 0
else:
if curveVal > -0.08: curveVal = 0
motor.move(0.35, -curveVal * sen, 0.05)
#cv2.waitKey(1)
if __name__ == '__main__':
initialTrackBarVals = [102, 80, 20, 214]
from MotorModule import Motor
#import KeyPressModule as kp
#from CameraModule import piCam
import JoystickModule as js
from time import sleep
#################################
motor = Motor(25, 24, 23, 20, 16, 12) #GPIO pins of both motor
movement = 'Joystick' #Option of use Keybord, ['Keyboard', 'Joystick']
#################################
def main():
if movement == 'Joystick':
#print(js.getJS())
#sleep(0.05)
jsVal = js.getJS()
motor.move(-(jsVal['axis2']), jsVal['axis1'], 0.1)
else:
motor.move(
0.5, -1,
2) #Negative values for speed is backward and for turn is left
motor.stop(2)
motor.move(-0.5, 1, 2)
motor.stop(2)
if __name__ == '__main__':
while True:
main()