From a544133e927985a55a903d5ab66e651962f6c9e2 Mon Sep 17 00:00:00 2001
From: Konstantin Lampalzer <konstantin@locahost.systems>
Date: Sat, 23 Jan 2021 11:55:56 +0000
Subject: [PATCH] Change IR Sensor, fix motor direction

---
 compLib/IRSensor.py | 33 +++++++++++++++++++++++++--------
 compLib/Motor.py    |  6 +++---
 2 files changed, 28 insertions(+), 11 deletions(-)

diff --git a/compLib/IRSensor.py b/compLib/IRSensor.py
index 0477c7d..b6fe55d 100644
--- a/compLib/IRSensor.py
+++ b/compLib/IRSensor.py
@@ -1,4 +1,4 @@
-import RPi.GPIO as GPIO
+import pigpio
 
 from compLib.ADC import ADC
 from compLib.LogstashLogging import Logging
@@ -15,12 +15,26 @@ BOTTOM_RIGHT_PIN = 23
 
 adc = ADC()
 
-GPIO.setmode(GPIO.BCM)
+# GPIO.setmode(GPIO.BCM)
 
-GPIO.setup(BOTTOM_LEFT_PIN, GPIO.IN)
-GPIO.setup(BOTTOM_MIDDLE_PIN, GPIO.IN)
-GPIO.setup(BOTTOM_RIGHT_PIN, GPIO.IN)
+GPIO = pigpio.pi()
 
+GPIO.set_mode(BOTTOM_LEFT_PIN, pigpio.INPUT)
+GPIO.set_mode(BOTTOM_MIDDLE_PIN, pigpio.INPUT)
+GPIO.set_mode(BOTTOM_RIGHT_PIN, pigpio.INPUT)
+
+states = {
+        str(BOTTOM_LEFT_PIN): 0,
+        str(BOTTOM_MIDDLE_PIN): 0,
+        str(BOTTOM_RIGHT_PIN): 0}
+
+def gpio_callback(gpio, level, tick):
+    states[str(gpio)] = level
+#    print(gpio, level, tick)
+
+GPIO.callback(BOTTOM_LEFT_PIN, pigpio.EITHER_EDGE, gpio_callback)
+GPIO.callback(BOTTOM_MIDDLE_PIN, pigpio.EITHER_EDGE, gpio_callback)
+GPIO.callback(BOTTOM_RIGHT_PIN, pigpio.EITHER_EDGE, gpio_callback)
 
 class IRSensor(object):
     """Access the different IR Sensors at top / bottom of the robot
@@ -53,7 +67,8 @@ class IRSensor(object):
         :return: True, if sensor detects IR signals
         :rtype: bool
         """
-        return GPIO.input(BOTTOM_LEFT_PIN)
+        return states[str(BOTTOM_LEFT_PIN)]
+        # return GPIO.read(BOTTOM_LEFT_PIN)
 
     @staticmethod
     def bottom_middle() -> bool:
@@ -62,7 +77,8 @@ class IRSensor(object):
         :return: True, if sensor detects IR signals
         :rtype: bool
         """
-        return GPIO.input(BOTTOM_MIDDLE_PIN)
+        return states[str(BOTTOM_MIDDLE_PIN)]
+        # return GPIO.read(BOTTOM_MIDDLE_PIN)
 
     @staticmethod
     def bottom_right() -> bool:
@@ -71,4 +87,5 @@ class IRSensor(object):
         :return: True, if sensor detects IR signals
         :rtype: bool
         """
-        return GPIO.input(BOTTOM_RIGHT_PIN)
+        return states[str(BOTTOM_RIGHT_PIN)]
+        # return GPIO.read(BOTTOM_RIGHT_PIN)
diff --git a/compLib/Motor.py b/compLib/Motor.py
index 73fd1b3..8c2556e 100644
--- a/compLib/Motor.py
+++ b/compLib/Motor.py
@@ -39,11 +39,11 @@ class Motor(object):
         adjusted_speed = int(min(max(0, percent), 100) * MOTOR_PERCENTAGE_MULT)
 
         if forward:
-            pwm.setMotorPwm(port * 2, 0)
-            pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
-        else:
             pwm.setMotorPwm(port * 2, adjusted_speed)
             pwm.setMotorPwm(port * 2 + 1, 0)
+        else:
+            pwm.setMotorPwm(port * 2, 0)
+            pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
 
     @staticmethod
     def all_off():