class AutoDrive:
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
self.obstacledetector = ObstacleDetector('/ultrasonic')
def trace(self):
left, right = self.line_detector.get_left_right()
angle = self.steer(left, right)
speed = self.accelerate(angle)
self.driver.drive(angle + 90, speed + 90)
def steer(self, left, right):
mid = (left + right) // 2 - 320
if abs(mid) > 40:
angle = mid // 1.5
else:
angle = mid // 3.5
angle = max(-50, angle) if angle < 0 else min(50, angle)
return angle
def accelerate(self, angle):
left, mid, right = self.obstacledetector.get_distance()
if (left < 140 and mid < 100 and left > 0 and mid > 0):
if left + mid < 130:
exit()
return 0
return 50
def exit(self):
print('finished')
class AutoDrive:
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
def trace(self):
angle = self.line_detector.get_left_right()
angle = self.steer(angle)
speed = self.accelerate(angle)
self.driver.drive(angle + 90, speed + 90)
def steer(self, angle):
if abs(angle) < 7:
angle *= 1.2
else:
angle *= 3.25
angle = max(-50, angle) if angle < 0 else min(50, angle)
return angle
def accelerate(self, angle):
if abs(angle) > 7:
return 20
return 25
def exit(self):
print('finished')
class AutoDrive:
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
def trace(self):
left, right = self.line_detector.get_left_right()
angle = self.steer(left, right)
speed = self.accelerate(angle)
self.driver.drive(angle + 90, speed + 90)
def steer(self, left, right):
print(left, right)
mid = (left + right) // 2 - 320
angle = mid // 1.7
angle = max(-50, angle) if angle < 0 else min(50, angle)
return angle
def accelerate(self, angle):
if angle <= -10 or angle >= 10:
speed = 20
else:
speed = 25
return speed
def exit(self):
print('finished')
class AutoDrive:
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
def trace(self):
result = self.line_detector.get_left_right()
if result:
if result == 'left':
angle = 30
elif result == 'right':
angle = -30
else:
left, right = result
angle = self.steer(left, right)
speed = self.accelerate(angle)
else:
angle = 0
speed = 0
self.driver.drive(angle + 90, speed + 90)
def steer(self, left, right):
mid = (left + right) // 2 - 320
if abs(mid) > 40:
angle = mid // 1.5
else:
angle = mid // 3.5
angle = max(-50, angle) if angle < 0 else min(50, angle)
return angle
def accelerate(self, angle):
return 31
def exit(self):
print('finished')
