From ce7094b5cf477170b750f50e0de10f107d097371 Mon Sep 17 00:00:00 2001
From: Konstantin Lampalzer <konstantin@localhost.systems>
Date: Thu, 14 Oct 2021 13:59:20 +0200
Subject: [PATCH] Fix spidev

---
 compLib/Spi.py                   |  1 +
 docs/source/lib/Linefollower.rst | 16 +++++++---------
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/compLib/Spi.py b/compLib/Spi.py
index 5f7d964..6e083bf 100644
--- a/compLib/Spi.py
+++ b/compLib/Spi.py
@@ -16,6 +16,7 @@ SPI_HEALTH = True
 spi_found = importlib.util.find_spec("spidev") is not None
 spi =  None
 if spi_found:
+    import spidev
     spi = spidev.SpiDev()
     spi.open(SPI_BUS, SPI_DEVICE)
     spi.max_speed_hz = SPI_SPEED
diff --git a/docs/source/lib/Linefollower.rst b/docs/source/lib/Linefollower.rst
index 48fe4d3..41de752 100644
--- a/docs/source/lib/Linefollower.rst
+++ b/docs/source/lib/Linefollower.rst
@@ -21,18 +21,16 @@ Simple Linefollower
     IRSensor.set(4, True)
     IRSensor.set(5, True)
 
-    DRIVE_SPEED = 85
-    TURN_SPEED = 50
-    COLOR_BREAK = 750
-    KP = 50.0
+    DRIVE_SPEED = 75
+    COLOR_BREAK = 900
+    KP = 10.0
     KD = 0.0
 
     def drive(leftSpeed, rightSpeed):
-        leftSpeed *= -1
-        rightSpeed *= 0.906
+        rightSpeed *= -0.906
 
-        Motor.power(1, min(max(-100, leftSpeed), 100))
-        Motor.power(2, min(max(-100, rightSpeed), 100))
+        Motor.power(1, min(max(-100, rightSpeed), 100))
+        Motor.power(4, min(max(-100, leftSpeed), 100))
 
     def follow(sleepTime = 0.1):
         lastError = 0
@@ -58,7 +56,7 @@ Simple Linefollower
                 error = 3
             elif error == -1.5:
                 error = -3
-            
+
             lastError = error
 
             adjustment = KP * error + KD * (error - lastError)