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22
_sources/lib/IRWrapper.rst.txt Normal file
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.. _lib_irwrapper:
Infrared Wrapper
****************
.. autoclass:: compLib.IRWrapper.IRWrapper
:members:
Examples
=========
Calibrating analog sensors
--------------------------
.. code-block:: python
from compLib import IRWrapper
ir = IRWrapper.IRWrapper()
ir.calibrate()
print("left {} middle {} right {}".format(ir.bottom_left_calibrated(), ir.bottom_middle_calibrated(), ir.bottom_right_calibrated()))

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.. _lib_Linefollower:
Linefollower Examples
*********************
Simple Linefollower
-------------------------
.. code-block:: python
import time
from IRWrapper import IRWrapper
from compLib.Motor import Motor
STRAIGHT_SPEED = 40.0
TURN_SPEED = 40.0
COLOR_BREAK = 500
def drive(left, right, active_break=False, back_mult=0.0):
left = max(min(left, 100), -100)
right = max(min(right, 100), -100)
print("left {} right {}".format(left, right))
Motor.power(0, left)
Motor.power(1, left * back_mult)
Motor.power(2, right * back_mult)
Motor.power(3, right)
if active_break:
time.sleep(0.001)
Motor.power(0, 10)
Motor.power(1, 10)
Motor.power(2, 10)
Motor.power(3, 10)
time.sleep(0.001)
def follow_till_line():
while True:
print("left: {:.2f} middle: {:.2f} right: {:.2f}".format(IRWrapper.bottom_left_calibrated(),
IRWrapper.bottom_middle_calibrated(),
IRWrapper.bottom_right_calibrated()))
left = IRWrapper.bottom_left_calibrated()
right = IRWrapper.bottom_right_calibrated()
if left > COLOR_BREAK:
drive(-TURN_SPEED, TURN_SPEED, back_mult=1.25)
while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
IRWrapper.bottom_right_calibrated() < COLOR_BREAK:
pass
drive(0, 0)
elif right > COLOR_BREAK:
drive(TURN_SPEED, -TURN_SPEED, back_mult=1.25)
while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
IRWrapper.bottom_left_calibrated() < COLOR_BREAK:
pass
drive(0, 0)
else:
drive(STRAIGHT_SPEED, STRAIGHT_SPEED, True)
if IRWrapper.bottom_left_calibrated() > 750 and IRWrapper.bottom_right_calibrated() > 750:
break
print("left: {} middle: {} right: {}".format(IRWrapper.bottom_left_calibrated(),
IRWrapper.bottom_middle_calibrated(),
IRWrapper.bottom_right_calibrated()))
drive(0, 0)
time.sleep(0.2)
if __name__ == "__main__":
# Put bot with middle sensor onto black line
IRWrapper.calibrate()
# Initialize Motors, so the bot doesn't speed off instantly
drive(1, 1)
time.sleep(1)
# Follow line, till the left and right sensor are on black
follow_till_line()

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genindex.html
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@ -86,6 +86,8 @@
<li class="toctree-l1"><a class="reference internal" href="lib/Battery.html">Battery</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
@ -160,6 +162,7 @@
<a href="#_"><strong>_</strong></a>
| <a href="#A"><strong>A</strong></a>
| <a href="#B"><strong>B</strong></a>
| <a href="#C"><strong>C</strong></a>
| <a href="#D"><strong>D</strong></a>
| <a href="#G"><strong>G</strong></a>
| <a href="#I"><strong>I</strong></a>
@ -180,6 +183,10 @@
<h2 id="A">A</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/IRWrapper.html#compLib.IRWrapper.IRWrapper.adjust_for_calibration">adjust_for_calibration() (compLib.IRWrapper.IRWrapper static method)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Motor.html#compLib.Motor.Motor.all_off">all_off() (compLib.Motor.Motor static method)</a>
</li>
@ -194,22 +201,36 @@
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.bottom_left">bottom_left() (compLib.IRSensor.IRSensor static method)</a>
</li>
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.bottom_left_analog">bottom_left_analog() (compLib.IRSensor.IRSensor static method)</a>
</li>
<li><a href="lib/IRWrapper.html#compLib.IRWrapper.IRWrapper.bottom_left_calibrated">bottom_left_calibrated() (compLib.IRWrapper.IRWrapper static method)</a>
</li>
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.bottom_middle">bottom_middle() (compLib.IRSensor.IRSensor static method)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.bottom_middle_analog">bottom_middle_analog() (compLib.IRSensor.IRSensor static method)</a>
</li>
<li><a href="lib/IRWrapper.html#compLib.IRWrapper.IRWrapper.bottom_middle_calibrated">bottom_middle_calibrated() (compLib.IRWrapper.IRWrapper static method)</a>
</li>
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.bottom_right">bottom_right() (compLib.IRSensor.IRSensor static method)</a>
</li>
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.bottom_right_analog">bottom_right_analog() (compLib.IRSensor.IRSensor static method)</a>
</li>
<li><a href="lib/IRWrapper.html#compLib.IRWrapper.IRWrapper.bottom_right_calibrated">bottom_right_calibrated() (compLib.IRWrapper.IRWrapper static method)</a>
</li>
<li><a href="lib/Buzzer.html#compLib.Buzzer.Buzzer">Buzzer (class in compLib.Buzzer)</a>
</li>
</ul></td>
</tr></table>
<h2 id="C">C</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/IRWrapper.html#compLib.IRWrapper.IRWrapper.calibrate">calibrate() (compLib.IRWrapper.IRWrapper static method)</a>
</li>
</ul></td>
</tr></table>
<h2 id="D">D</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
@ -246,6 +267,10 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor">IRSensor (class in compLib.IRSensor)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/IRWrapper.html#compLib.IRWrapper.IRWrapper">IRWrapper (class in compLib.IRWrapper)</a>
</li>
</ul></td>
</tr></table>

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index.html
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<li class="toctree-l1"><a class="reference internal" href="lib/Battery.html">Battery</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
@ -201,6 +203,17 @@
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRWrapper.html">Infrared Wrapper</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/IRWrapper.html#examples">Examples</a><ul>
<li class="toctree-l3"><a class="reference internal" href="lib/IRWrapper.html#calibrating-analog-sensors">Calibrating analog sensors</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/Linefollower.html#simple-linefollower">Simple Linefollower</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/Logging.html#class-documentation">Class Documentation</a></li>
<li class="toctree-l2"><a class="reference internal" href="lib/Logging.html#examples">Examples</a><ul>

2
lib/Api.html
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@ -98,6 +98,8 @@
<li class="toctree-l1"><a class="reference internal" href="Battery.html">Battery</a></li>
<li class="toctree-l1"><a class="reference internal" href="Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>

2
lib/Battery.html
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@ -95,6 +95,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>

2
lib/Buzzer.html
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@ -95,6 +95,8 @@
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>

6
lib/IRSensor.html
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@ -35,7 +35,7 @@
<link rel="index" title="Index" href="../genindex.html" />
<link rel="search" title="Search" href="../search.html" />
<link rel="next" title="Logging" href="Logging.html" />
<link rel="next" title="Infrared Wrapper" href="IRWrapper.html" />
<link rel="prev" title="Buzzer" href="Buzzer.html" />
</head>
@ -94,6 +94,8 @@
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
@ -307,7 +309,7 @@
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="Logging.html" class="btn btn-neutral float-right" title="Logging" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="IRWrapper.html" class="btn btn-neutral float-right" title="Infrared Wrapper" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="Buzzer.html" class="btn btn-neutral float-left" title="Buzzer" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>

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<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Infrared Wrapper &mdash; CompLib 0.0.2 documentation</title>
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<div class="section" id="infrared-wrapper">
<span id="lib-irwrapper"></span><h1>Infrared Wrapper<a class="headerlink" href="#infrared-wrapper" title="Permalink to this headline"></a></h1>
<dl class="py class">
<dt id="compLib.IRWrapper.IRWrapper">
<em class="property">class </em><code class="sig-prename descclassname">compLib.IRWrapper.</code><code class="sig-name descname">IRWrapper</code><a class="headerlink" href="#compLib.IRWrapper.IRWrapper" title="Permalink to this definition"></a></dt>
<dd><p>Wrapper around the IRSensor to enable calibration of the sensor</p>
<dl class="py method">
<dt id="compLib.IRWrapper.IRWrapper.adjust_for_calibration">
<em class="property">static </em><code class="sig-name descname">adjust_for_calibration</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">raw_value</span><span class="p">:</span> <span class="n">float</span></em><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.IRWrapper.IRWrapper.adjust_for_calibration" title="Permalink to this definition"></a></dt>
<dd><p>Adjust a raw sensor value to 0 to 1000</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Value between 0 and 1000, White and Black</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>float</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.IRWrapper.IRWrapper.bottom_left_calibrated">
<em class="property">static </em><code class="sig-name descname">bottom_left_calibrated</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.IRWrapper.IRWrapper.bottom_left_calibrated" title="Permalink to this definition"></a></dt>
<dd><p>Returns calibrated value of the bottom left analog sensor</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Value between 0 and 1000, White and Black</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>float</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.IRWrapper.IRWrapper.bottom_middle_calibrated">
<em class="property">static </em><code class="sig-name descname">bottom_middle_calibrated</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.IRWrapper.IRWrapper.bottom_middle_calibrated" title="Permalink to this definition"></a></dt>
<dd><p>Returns calibrated value of the bottom middle analog sensor</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Value between 0 and 1000, White and Black</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>float</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.IRWrapper.IRWrapper.bottom_right_calibrated">
<em class="property">static </em><code class="sig-name descname">bottom_right_calibrated</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.IRWrapper.IRWrapper.bottom_right_calibrated" title="Permalink to this definition"></a></dt>
<dd><p>Returns calibrated value of the bottom right analog sensor</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Value between 0 and 1000, White and Black</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>float</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.IRWrapper.IRWrapper.calibrate">
<em class="property">static </em><code class="sig-name descname">calibrate</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRWrapper.IRWrapper.calibrate" title="Permalink to this definition"></a></dt>
<dd><p>Calibrate the black and white values of the IRSensors
This is done by putting the bot on black line with the middle sensor
Afterwards, all sensors are read for 2 seconds and filtered.
The minimum value is used for white, maximum is black.</p>
</dd></dl>
</dd></dl>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="calibrating-analog-sensors">
<h3>Calibrating analog sensors<a class="headerlink" href="#calibrating-analog-sensors" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">IRWrapper</span>
<span class="n">ir</span> <span class="o">=</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">IRWrapper</span><span class="p">()</span>
<span class="n">ir</span><span class="o">.</span><span class="n">calibrate</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;left </span><span class="si">{}</span><span class="s2"> middle </span><span class="si">{}</span><span class="s2"> right </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">ir</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">(),</span> <span class="n">ir</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">(),</span> <span class="n">ir</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()))</span>
</pre></div>
</div>
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<div class="section" id="linefollower-examples">
<span id="lib-linefollower"></span><h1>Linefollower Examples<a class="headerlink" href="#linefollower-examples" title="Permalink to this headline"></a></h1>
<div class="section" id="simple-linefollower">
<h2>Simple Linefollower<a class="headerlink" href="#simple-linefollower" title="Permalink to this headline"></a></h2>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
<span class="kn">from</span> <span class="nn">IRWrapper</span> <span class="kn">import</span> <span class="n">IRWrapper</span>
<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
<span class="n">STRAIGHT_SPEED</span> <span class="o">=</span> <span class="mf">40.0</span>
<span class="n">TURN_SPEED</span> <span class="o">=</span> <span class="mf">40.0</span>
<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">500</span>
<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">,</span> <span class="n">active_break</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">back_mult</span><span class="o">=</span><span class="mf">0.0</span><span class="p">):</span>
<span class="n">left</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="nb">min</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="mi">100</span><span class="p">),</span> <span class="o">-</span><span class="mi">100</span><span class="p">)</span>
<span class="n">right</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="nb">min</span><span class="p">(</span><span class="n">right</span><span class="p">,</span> <span class="mi">100</span><span class="p">),</span> <span class="o">-</span><span class="mi">100</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;left </span><span class="si">{}</span><span class="s2"> right </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">))</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">left</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">left</span> <span class="o">*</span> <span class="n">back_mult</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="n">right</span> <span class="o">*</span> <span class="n">back_mult</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">right</span><span class="p">)</span>
<span class="k">if</span> <span class="n">active_break</span><span class="p">:</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.001</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.001</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">follow_till_line</span><span class="p">():</span>
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;left: </span><span class="si">{:.2f}</span><span class="s2"> middle: </span><span class="si">{:.2f}</span><span class="s2"> right: </span><span class="si">{:.2f}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">(),</span>
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">(),</span>
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()))</span>
<span class="n">left</span> <span class="o">=</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">()</span>
<span class="n">right</span> <span class="o">=</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()</span>
<span class="k">if</span> <span class="n">left</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="n">drive</span><span class="p">(</span><span class="o">-</span><span class="n">TURN_SPEED</span><span class="p">,</span> <span class="n">TURN_SPEED</span><span class="p">,</span> <span class="n">back_mult</span><span class="o">=</span><span class="mf">1.25</span><span class="p">)</span>
<span class="k">while</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">()</span> <span class="o">&lt;</span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> \
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()</span> <span class="o">&lt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="k">pass</span>
<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
<span class="k">elif</span> <span class="n">right</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="n">drive</span><span class="p">(</span><span class="n">TURN_SPEED</span><span class="p">,</span> <span class="o">-</span><span class="n">TURN_SPEED</span><span class="p">,</span> <span class="n">back_mult</span><span class="o">=</span><span class="mf">1.25</span><span class="p">)</span>
<span class="k">while</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">()</span> <span class="o">&lt;</span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> \
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">()</span> <span class="o">&lt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="k">pass</span>
<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
<span class="k">else</span><span class="p">:</span>
<span class="n">drive</span><span class="p">(</span><span class="n">STRAIGHT_SPEED</span><span class="p">,</span> <span class="n">STRAIGHT_SPEED</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
<span class="k">if</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">()</span> <span class="o">&gt;</span> <span class="mi">750</span> <span class="ow">and</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()</span> <span class="o">&gt;</span> <span class="mi">750</span><span class="p">:</span>
<span class="k">break</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;left: </span><span class="si">{}</span><span class="s2"> middle: </span><span class="si">{}</span><span class="s2"> right: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">(),</span>
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">(),</span>
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()))</span>
<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.2</span><span class="p">)</span>
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
<span class="c1"># Put bot with middle sensor onto black line</span>
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">calibrate</span><span class="p">()</span>
<span class="c1"># Initialize Motors, so the bot doesn&#39;t speed off instantly</span>
<span class="n">drive</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="c1"># Follow line, till the left and right sensor are on black</span>
<span class="n">follow_till_line</span><span class="p">()</span>
</pre></div>
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@ -36,7 +36,7 @@
<link rel="index" title="Index" href="../genindex.html" />
<link rel="search" title="Search" href="../search.html" />
<link rel="next" title="Motor" href="Motor.html" />
<link rel="prev" title="Infrared Sensor" href="IRSensor.html" />
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@ -88,6 +88,8 @@
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<li class="toctree-l1"><a class="reference internal" href="Buzzer.html">Buzzer</a></li>
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@ -220,7 +222,7 @@ Competition organizers</p>
<a href="Motor.html" class="btn btn-neutral float-right" title="Motor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
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2
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@ -88,6 +88,8 @@
<li class="toctree-l1"><a class="reference internal" href="Battery.html">Battery</a></li>
<li class="toctree-l1"><a class="reference internal" href="Buzzer.html">Buzzer</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#class-documentation">Class Documentation</a></li>

2
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View file

@ -88,6 +88,8 @@
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<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Servo</a></li>

2
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@ -87,6 +87,8 @@
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<li class="toctree-l1"><a class="reference internal" href="Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>

BIN
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2
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@ -88,6 +88,8 @@
<li class="toctree-l1"><a class="reference internal" href="../lib/Battery.html">Battery</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Servo.html">Servo</a></li>

2
search.html
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@ -88,6 +88,8 @@
<li class="toctree-l1"><a class="reference internal" href="lib/Battery.html">Battery</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Buzzer.html">Buzzer</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/IRWrapper.html">Infrared Wrapper</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
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