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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>
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