def steer(self, frame, lane_lines): global old_steering_angle turn.center() logging.debug('steering...') status_right = GPIO.input(line_pin_right) status_middle = GPIO.input(line_pin_middle) status_left = GPIO.input(line_pin_left) if len(lane_lines) == 0: turn.turn_ang(abs(90 - int(old_steering_angle))) #ultra_dp.loop(distance_stay,distance_range) motor.motor_right(status, backward, right_spd) return frame new_steering_angle = compute_steering_angle(frame, lane_lines) old_steering_angle = new_steering_angle self.curr_steering_angle = stabilize_steering_angle( self.curr_steering_angle, new_steering_angle, len(lane_lines)) if self.car is not None: self.car.front_wheels.turn(self.curr_steering_angle) motor.motor_right(status, forward, right_spd) if status_middle == 1 and status_right == 1 and status_left == 1: #turn.turn_ang(335+(90-int(old_steering_angle))) turn.center() motor.motor_right(status, backward, right_spd) motor.motor_right(status, forward, right_spd) #self.car.back_wheels.backward() curr_heading_image = display_heading_line(frame, self.curr_steering_angle) show_image("heading", curr_heading_image) return curr_heading_image
def opencv_thread(): #OpenCV and FPV video global hoz_mid_orig, vtr_mid_orig font = cv2.FONT_HERSHEY_SIMPLEX for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True): image = frame.array cv2.line(image, (300, 240), (340, 240), (128, 255, 128), 1) cv2.line(image, (320, 220), (320, 260), (128, 255, 128), 1) if opencv_mode == 1: hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv, colorLower, colorUpper) mask = cv2.erode(mask, None, iterations=2) mask = cv2.dilate(mask, None, iterations=2) cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] center = None if len(cnts) > 0: led.both_off() led.green() cv2.putText(image, 'Target Detected', (40, 60), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) c = max(cnts, key=cv2.contourArea) ((x, y), radius) = cv2.minEnclosingCircle(c) M = cv2.moments(c) center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"])) X = int(x) Y = int(y) if radius > 10: cv2.rectangle(image, (int(x - radius), int(y + radius)), (int(x + radius), int(y - radius)), (255, 255, 255), 1) if X < 310: mu1 = int((320 - X) / 3) hoz_mid_orig += mu1 if hoz_mid_orig < look_left_max: pass else: hoz_mid_orig = look_left_max ultra_turn(hoz_mid_orig) #print('x=%d'%X) elif X > 330: mu1 = int((X - 330) / 3) hoz_mid_orig -= mu1 if hoz_mid_orig > look_right_max: pass else: hoz_mid_orig = look_right_max ultra_turn(hoz_mid_orig) #print('x=%d'%X) else: turn.middle() pass mu_t = 390 - (hoz_mid - hoz_mid_orig) v_mu_t = 390 + (hoz_mid + hoz_mid_orig) turn.turn_ang(mu_t) dis = dis_data if dis < (distance_stay - 0.1): led.both_off() led.red() turn.turn_ang(mu_t) motor.motor_left(status, backward, left_spd * spd_ad_u) motor.motor_right(status, forward, right_spd * spd_ad_u) cv2.putText(image, 'Too Close', (40, 80), font, 0.5, (128, 128, 255), 1, cv2.LINE_AA) elif dis > (distance_stay + 0.1): motor.motor_left(status, forward, left_spd * spd_ad_2) motor.motor_right(status, backward, right_spd * spd_ad_2) cv2.putText(image, 'OpenCV Tracking', (40, 80), font, 0.5, (128, 255, 128), 1, cv2.LINE_AA) else: motor.motorStop() led.both_off() led.blue() cv2.putText(image, 'In Position', (40, 80), font, 0.5, (255, 128, 128), 1, cv2.LINE_AA) if dis < 8: cv2.putText(image, '%s m' % str(round(dis, 2)), (40, 40), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) if Y < 230: mu2 = int((240 - Y) / 5) vtr_mid_orig += mu2 if vtr_mid_orig < look_up_max: pass else: vtr_mid_orig = look_up_max camera_turn(vtr_mid_orig) elif Y > 250: mu2 = int((Y - 240) / 5) vtr_mid_orig -= mu2 if vtr_mid_orig > look_down_max: pass else: vtr_mid_orig = look_down_max camera_turn(vtr_mid_orig) if X > 280: if X < 350: #print('looked') cv2.line(image, (300, 240), (340, 240), (64, 64, 255), 1) cv2.line(image, (320, 220), (320, 260), (64, 64, 255), 1) cv2.rectangle(image, (int(x - radius), int(y + radius)), (int(x + radius), int(y - radius)), (64, 64, 255), 1) else: led.both_off() led.yellow() cv2.putText(image, 'Target Detecting', (40, 60), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) led_y = 1 motor.motorStop() for i in range(1, len(pts)): if pts[i - 1] is None or pts[i] is None: continue thickness = int(np.sqrt(args["buffer"] / float(i + 1)) * 2.5) cv2.line(image, pts[i - 1], pts[i], (0, 0, 255), thickness) else: dis = dis_data if dis < 8: cv2.putText(image, '%s m' % str(round(dis, 2)), (40, 40), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) encoded, buffer = cv2.imencode('.jpg', image) jpg_as_text = base64.b64encode(buffer) footage_socket.send(jpg_as_text) rawCapture.truncate(0)
def opencv_thread(): '''OpenCV and FPV video''' #??? why isn't opencv stuff in it's own module #??? do we need these globals (maybe) global hoz_mid_orig, vtr_mid_orig font = cv2.FONT_HERSHEY_SIMPLEX #??? necessary? #??? rawCapture is defined outside function but isn't global for frame in camera.capture_continuous( rawCapture, format="bgr", #??? why bgr use_video_port=True): image = frame.array # draw cross on image cv2.line(image, (300, 240), (340, 240), (128, 255, 128), 1) cv2.line(image, (320, 220), (320, 260), (128, 255, 128), 1) if opencv_mode == 1: #??? #TODO: make this a function # searches for largest yellow object #??? where are colorLower and colorUpper defined hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv, colorLower, colorUpper) mask = cv2.erode(mask, None, iterations=2) mask = cv2.dilate(mask, None, iterations=2) #??? how does findCountours work cnts = cv2.findContours( mask.copy(), #??? why use copy cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] center = None #??? necessary if len(cnts) > 0: led.both_off() led.green() cv2.putText(image, 'Target Detected', (40, 60), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) #??? line aa #TODO: no single varible names # c is the largest area contour c = max(cnts, key=cv2.contourArea) # location of moments #TODO: make a function ((x, y), radius) = cv2.minEnclosingCircle(c) X = int(x) Y = int(y) #TODO: make this a function #??? what is this second attempt at finding center M = cv2.moments(c) center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"])) if radius > 10: #TODO: make min size a setting cv2.rectangle( image, #??? why doesn't this pattern right (int(x - radius), int(y + radius)), (int(x + radius), int(y - radius)), (255, 255, 255), 1) #TODO: pan head is a function #TODO: magic numbers in panning block if X < 310: mu1 = int((320 - X) / 3) #??? why 3 #??? what is mu1 hoz_mid_orig += mu1 if hoz_mid_orig < look_left_max: pass #??? why is this not if > max else: hoz_mid_orig = look_left_max ultra_turn(hoz_mid_orig) #print('x=%d'%X) elif X > 330: mu1 = int((X - 330) / 3) hoz_mid_orig -= mu1 if hoz_mid_orig > look_right_max: pass #??? why is this not if > max else: hoz_mid_orig = look_right_max ultra_turn(hoz_mid_orig) #print('x=%d'%X) else: turn.middle() pass #??? why pass #TODO: turn wheels as a function #TODO: remove magic numbers mu_t = 390 - (hoz_mid - hoz_mid_orig) #??? what is mu_t v_mu_t = 390 + (hoz_mid + hoz_mid_orig ) #??? what is v_mu_t turn.turn_ang(mu_t) #TODO: seperate as a function #??? why not use dis directly dis = dis_data #??? dis_data could be a list if dis < (distance_stay - 0.1): #TODO: .1 is magic number led.both_off() led.red() turn.turn_ang(mu_t) #??? this is already done #TODO: fix for 1 motor motor.motor_left(status, backward, left_spd * spd_ad_u) motor.motor_right(status, forward, right_spd * spd_ad_u) cv2.putText(image, 'Too Close', (40, 80), font, 0.5, (128, 128, 255), 1, cv2.LINE_AA) elif dis > (distance_stay + 0.1): #TODO: .1 is magic number #TODO: fix for 1 motor motor.motor_left(status, forward, left_spd * spd_ad_2) motor.motor_right(status, backward, right_spd * spd_ad_2) cv2.putText(image, 'OpenCV Tracking', (40, 80), font, 0.5, (128, 255, 128), 1, cv2.LINE_AA) else: motor.motorStop() #TODO: include both_off in all color change functions? led.both_off() led.blue() #TODO: adjust colors with non-magic numbers cv2.putText(image, 'In Position', (40, 80), font, 0.5, (255, 128, 128), 1, cv2.LINE_AA) if dis < 8: #TODO: 8 is magic number #??? what is this cv2.putText(image, '%s m' % str(round(dis, 2)), (40, 40), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) #TODO: put in tilt function #TODO: reposition to be with X #TODO: fix magic numbers if Y < 230: mu2 = int((240 - Y) / 5) #??? what is mu2 vtr_mid_orig += mu2 if vtr_mid_orig < look_up_max: pass #??? why is if like this else: vtr_mid_orig = look_up_max turn.camera_turn(vtr_mid_orig) #TODO change to tilt elif Y > 250: #TODO: see above mu2 = int((Y - 240) / 5) vtr_mid_orig -= mu2 if vtr_mid_orig > look_down_max: pass #??? why is if like this else: vtr_mid_orig = look_down_max turn.camera_turn(vtr_mid_orig) if X > 280: #TODO: fix magic numbers if X < 350: #??? what is happening here # if X in some range #print('looked') #??? what cv2.line(image, (300, 240), (340, 240), (64, 64, 255), 1) cv2.line(image, (320, 220), (320, 260), (64, 64, 255), 1) cv2.rectangle(image, (int(x - radius), int(y + radius)), (int(x + radius), int(y - radius)), (64, 64, 255), 1) else: # no contours found led.both_off() #TODO: put this into color changes led.yellow() cv2.putText(image, 'Target Detecting', (40, 60), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) led_y = 1 #??? never used #TODO: choose search patterns not just stop and wait motor.motorStop() #??? no idea what this block is doing for i in range(1, len(pts)): #??? pts is global what is it? if pts[i - 1] is None or pts[i] is None: continue #TODO: magic numbers #??? what is args thickness = int(np.sqrt(args["buffer"] / float(i + 1)) * 2.5) cv2.line(image, pts[i - 1], pts[i], (0, 0, 255), thickness) else: # not opencv_mode==1 #??? why not use directly and its a list dis = dis_data #Place the distance to closest object on screen if dis < 8: cv2.putText(image, '%s m' % str(round(dis, 2)), (40, 40), font, 0.5, (255, 255, 255), 1, cv2.LINE_AA) # send image to client encoded, buffer = cv2.imencode('.jpg', image) jpg_as_text = base64.b64encode(buffer) footage_socket.send(jpg_as_text) rawCapture.truncate(0)
def run(): #Main loop global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status led.setup() while True: #Connection try: s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.connect(("1.1.1.1", 80)) ipaddr_check = s.getsockname()[0] s.close() print(ipaddr_check) wifi_status = 1 except: if ap_status == 0: ap_threading = threading.Thread( target=ap_thread) #Define a thread for data receiving ap_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes ap_threading.start() #Thread starts led.both_off() led.yellow() time.sleep(5) wifi_status = 0 if wifi_status == 1: print('waiting for connection...') led.red() tcpCliSock, addr = tcpSerSock.accept( ) #Determine whether to connect led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) tcpCliSock.send( ('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) break else: led.both_off() led.blue() print('waiting for connection...') tcpCliSock, addr = tcpSerSock.accept( ) #Determine whether to connect led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) tcpCliSock.send( ('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) ap_status = 1 break #FPV initialization context = zmq.Context() footage_socket = context.socket(zmq.PUB) footage_socket.connect('tcp://%s:5555' % addr[0]) print(addr[0]) #Threads start video_threading = threading.Thread( target=opencv_thread) #Define a thread for FPV and OpenCV video_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes video_threading.start() #Thread starts ws2812_threading = threading.Thread( target=ws2812_thread) #Define a thread for ws_2812 leds ws2812_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes ws2812_threading.start() #Thread starts findline_threading = threading.Thread( target=findline_thread) #Define a thread for line tracking findline_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes findline_threading.start() #Thread starts speech_threading = threading.Thread( target=speech_thread) #Define a thread for speech recognition speech_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes speech_threading.start() #Thread starts auto_threading = threading.Thread( target=auto_thread) #Define a thread for ultrasonic tracking auto_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes auto_threading.start() #Thread starts scan_threading = threading.Thread( target=dis_scan_thread) #Define a thread for ultrasonic scan scan_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes scan_threading.start() #Thread starts while True: data = '' data = tcpCliSock.recv(BUFSIZ).decode() if not data: continue elif 'exit' in data: #os.system("sudo shutdown -h now\n") exit() elif 'spdset' in data: global spd_ad spd_ad = float((str(data))[7:]) #Speed Adjustment elif 'steering' in data: try: angle = float((str(data))[8:].strip()) #Steering except: pass ''' angle = 0 if led_status == 0: led.side_color_off(left_R,left_G) led.side_color_off(right_R,right_G) else: led.side_on(left_B) led.side_on(right_B) turn_status = 0 turn.middle() ''' if angle > 0: # Turn left ang = turn.turn_middle + int(turn.delta_right * angle) if led_status == 0: led.side_color_on(left_R, left_G) else: led.side_off(left_B) turn.turn_ang(ang) turn_status = 1 tcpCliSock.send('3'.encode()) elif angle <= 0: ang = turn.turn_middle + int(turn.delta_left * angle) if led_status == 0: led.side_color_on(right_R, right_G) else: led.side_off(right_B) turn.turn_ang(ang) turn_status = 2 tcpCliSock.send('4'.encode()) elif 'moving' in data: left_spd1 = 0.4 right_spd1 = 0.4 global spd_ad try: spd_ad = float((str(data))[6:].strip()) #Speed Adjustment except: motor.motorStop() ##print(str(data)) #print(spd_ad) if spd_ad < 0: # Forward print(left_spd1) print(right_spd1) tcpCliSock.send('1'.encode()) motor.motor_left(status, forward, left_spd1 * (-spd_ad)) motor.motor_right(status, backward, right_spd1 * (-spd_ad)) colorWipe(strip, Color(0, 0, 255)) elif spd_ad > 0: # backward tcpCliSock.send('2'.encode()) motor.motor_left(status, backward, left_spd1 * spd_ad) motor.motor_right(status, forward, right_spd1 * spd_ad) colorWipe(strip, Color(255, 0, 0)) else: motor.motorStop() elif 'scan' in data: dis_can = scan() #Start Scanning str_list_1 = dis_can #Divide the list to make it samller to send str_index = ' ' #Separate the values by space str_send_1 = str_index.join(str_list_1) + ' ' tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data tcpCliSock.send( 'finished'.encode() ) #Sending 'finished' tell the client to stop receiving the list of dis_can elif 'scan_rev' in data: dis_can = scan_rev() #Start Scanning str_list_1 = dis_can #Divide the list to make it samller to send str_index = ' ' #Separate the values by space str_send_1 = str_index.join(str_list_1) + ' ' tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data tcpCliSock.send( 'finished'.encode() ) #Sending 'finished' tell the client to stop receiving the list of dis_can elif 'EC1set' in data: #Camera Adjustment new_EC1 = int((str(data))[7:]) turn.camera_turn(new_EC1) replace_num('E_C1:', new_EC1) elif 'EC2set' in data: #Ultrasonic Adjustment new_EC2 = int((str(data))[7:]) replace_num('E_C2:', new_EC2) turn.ultra_turn(new_EC2) elif 'EM1set' in data: #Motor A Speed Adjustment new_EM1 = int((str(data))[7:]) replace_num('E_M1:', new_EM1) elif 'EM2set' in data: #Motor B Speed Adjustment new_EM2 = int((str(data))[7:]) replace_num('E_M2:', new_EM2) elif 'LUMset' in data: #Motor A Turningf Speed Adjustment new_ET1 = int((str(data))[7:]) replace_num('look_up_max:', new_ET1) turn.camera_turn(new_ET1) elif 'LDMset' in data: #Motor B Turningf Speed Adjustment new_ET2 = int((str(data))[7:]) replace_num('look_down_max:', new_ET2) turn.camera_turn(new_ET2) elif 'stop' in data: #When server receive "stop" from client,car stops moving tcpCliSock.send('9'.encode()) setup() motor.motorStop() setup() if led_status == 0: led.setup() led.both_off() colorWipe(strip, Color(0, 0, 0)) continue elif 'lightsON' in data: #Turn on the LEDs led.both_on() led_status = 1 tcpCliSock.send('lightsON'.encode()) elif 'lightsOFF' in data: #Turn off the LEDs led.both_off() led_status = 0 tcpCliSock.send('lightsOFF'.encode()) elif 'middle' in data: #Go straight if led_status == 0: led.side_color_off(left_R, left_G) led.side_color_off(right_R, right_G) else: led.side_on(left_B) led.side_on(right_B) turn_status = 0 turn.middle() elif 'Left' in data: #Turn left if led_status == 0: led.side_color_on(left_R, left_G) else: led.side_off(left_B) turn.left() turn_status = 1 tcpCliSock.send('3'.encode()) elif 'Right' in data: #Turn right if led_status == 0: led.side_color_on(right_R, right_G) else: led.side_off(right_B) turn.right() turn_status = 2 tcpCliSock.send('4'.encode()) elif 'backward' in data: #When server receive "backward" from client,car moves backward tcpCliSock.send('2'.encode()) motor.motor_left(status, backward, left_spd * spd_ad) motor.motor_right(status, forward, right_spd * spd_ad) colorWipe(strip, Color(255, 0, 0)) elif 'forward' in data: #When server receive "forward" from client,car moves forward tcpCliSock.send('1'.encode()) motor.motor_left(status, forward, left_spd * spd_ad) motor.motor_right(status, backward, right_spd * spd_ad) colorWipe(strip, Color(0, 0, 255)) elif 'l_up' in data: #Camera look up if vtr_mid < look_up_max: vtr_mid += turn_speed turn.camera_turn(vtr_mid) tcpCliSock.send('5'.encode()) elif 'l_do' in data: #Camera look down if vtr_mid > look_down_max: vtr_mid -= turn_speed turn.camera_turn(vtr_mid) print(vtr_mid) tcpCliSock.send('6'.encode()) elif 'l_le' in data: #Camera look left if hoz_mid < look_left_max: hoz_mid += turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('7'.encode()) elif 'l_ri' in data: #Camera look right if hoz_mid > look_right_max: hoz_mid -= turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('8'.encode()) elif 'ahead' in data: #Camera look ahead turn.ahead() elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off opencv_mode = 0 findline_mode = 0 speech_mode = 0 auto_mode = 0 auto_status = 0 dis_scan = 1 tcpCliSock.send('auto_status_off'.encode()) motor.motorStop() led.both_off() turn.middle() time.sleep(0.1) motor.motorStop() led.both_off() turn.middle() elif 'auto' in data: #When server receive "auto" from client,start Auto Mode if auto_status == 0: tcpCliSock.send('0'.encode()) auto_status = 1 auto_mode = 1 dis_scan = 0 else: pass continue elif 'opencv' in data: #When server receive "auto" from client,start Auto Mode if auto_status == 0: auto_status = 1 opencv_mode = 1 tcpCliSock.send('oncvon'.encode()) continue elif 'findline' in data: #Find line mode start if auto_status == 0: tcpCliSock.send('findline'.encode()) auto_status = 1 findline_mode = 1 else: pass continue elif 'voice_3' in data: #Speech recognition mode start if auto_status == 0: auto_status = 1 speech_mode = 1 tcpCliSock.send('voice_3'.encode()) else: pass continue
def run(): status_right = GPIO.input(line_pin_right) status_middle = GPIO.input(line_pin_middle) status_left = GPIO.input(line_pin_left) status_full = [status_left, status_middle, status_right] time.sleep(.001) if status_full == [0, 0, 0]: turn.middle() motor.motor_right(status, backward, right_spd * spd_ad_1) pass elif status_full == [1, 0, 0]: turn.turn_ang(midTurn - shallowTurn) motor.motor_right(status, backward, right_spd * spd_ad_2) elif status_full == [1, 1, 0]: turn.right() motor.motor_right(status, backward, right_spd * spd_ad_2) elif status_full == [0, 0, 1]: turn.turn_ang(midTurn + shallowTurn) motor.motor_right(status, backward, right_spd * spd_ad_2) elif status_full == [0, 1, 1]: turn.left() motor.motor_right(status, backward, right_spd * spd_ad_2) elif status_full == [1, 0, 1]: print("[1,0,1] status confusing") pass elif status_full == [0, 1, 0]: print("[0,1,0] thin line") pass elif status_full == [1, 1, 1]: turn.middle() time.sleep(.1) motor.motor_right(status, forward, right_spd * spd_ad_2) else: print("I'm confused") ''' status_middle == 0: #print("Go forward") turn.middle() led.both_off() led.yellow() #motor.motor_left(status, forward,left_spd*spd_ad_1) elif status_right == 0: #print("Turn left") turn.left() led.both_off() led.side_on(left_R) #motor.motor_left(status, forward,left_spd*spd_ad_2) motor.motor_right(status,backward,right_spd*spd_ad_2) elif status_left == 0: #print("Turn right") turn.right() led.both_off() led.side_on(right_R) #motor.motor_left(status, forward,left_spd*spd_ad_2) motor.motor_right(status,backward,right_spd*spd_ad_2) else: print("Go backward") #turn.middle() led.both_off() led.cyan() #motor.motor_left(status, backward,left_spd) motor.motor_right(status,forward,right_spd) ''' pass