def check_turning(dis):
if int(dis[1]) < 100:
dr.goCustom(80, 90)
#print("Adjusting left")
elif int(dis[1]) > 150:
dr.goCustom(90, 80)
#print('Adjusting right')
else:
#print('going forward')
dr.goStraight()
def check_turning(dis):
if int(dis[0]) < 245:
dr.goCustom(110, 90)
print('-->')
elif int(dis[1]) < 235:
dr.goCustom(90, 110)
print('<--')
else:
print('^')
dr.goStraight()
def check_turning(dis):
if int(dis[0]) < 265:
dr.goCustom(100, 90)
print('-->')
elif int(dis[1]) < 255:
dr.goCustom(100, 90)
print('<--')
else:
print('^')
dr.goStraight()
def check_turning(dis):
if int(dis[1]) < 100:
dr.goCustom(80, 90)
print('left')
elif int(dis[1]) > 150:
dr.goCustom(90, 80)
print('right')
else:
#dr.goStraight()
dr.goStraight()
print('straight')
def turn(direction):
if direction == 'Left':
stop(3)
dr.goStraight()
time.sleep(2)
dr.stop(1)
dr.left()
#print('Turning left')
if direction == 'Right':
stop(3)
dr.goStraight()
time.sleep(2)
dr.stop(1)
dr.right()
check_turning(distance)
cv2.imshow('Result', image_with_lanes)
out.write(image_with_lanes)
except:
cv2.imshow('Result', frame)
out.write(frame)
turn_com = True
dr.stop(0.5)
print('Stop')
else:
try:
image_with_h_lane, turn_command = detect_h_line(frame)
cv2.imshow('Result', image_with_h_lane)
out.write(image_with_h_lane)
print('Going for forward horizontal line')
dr.goStraight()
if turn_command == True:
print('stop')
dr.stop(0.5)
for i in range(5):
arrow_image, direction = arrow_detection(frame)
direction_list.append(direction)
cv2.imshow('Result', arrow_image)
out.write(arrow_image)
direction = mode(direction_list)
if direction != 'Undefined':
turn(direction)
print("Im turning", direction)
cv2.imshow('Result', arrow_image)
out.write(image_with_h_lane)
time.sleep(0.5)