Rename folder

compLib/IRSensor.py

@@ -0,0 +1,73 @@
+import RPi.GPIO as GPIO
+
+from compLib.ADC import ADC
+
+TOP_LEFT_CHANNEL = 0
+TOP_RIGHT_CHANNEL = 1
+
+TOP_IR_MIN_VOLTAGE = 0.0
+TOP_IR_MAX_VOLTAGE = 3.3
+
+BOTTOM_LEFT_PIN = 14
+BOTTOM_MIDDLE_PIN = 15
+BOTTOM_RIGHT_PIN = 23
+
+adc = ADC()
+
+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)
+
+
+class IRSensor(object):
+    """Access the different IR Sensors at top / bottom of the robot
+    """
+
+    @staticmethod
+    def top_left_percent() -> int:
+        """Get top left infrared sensor percentage
+
+        :return: Percentage between 0 and 100
+        :rtype: int
+        """
+        voltage = adc.read(TOP_LEFT_CHANNEL)
+        return int((voltage - TOP_IR_MIN_VOLTAGE) / TOP_IR_MAX_VOLTAGE * 100)
+
+    @staticmethod
+    def top_right_percent() -> int:
+        """Get top right infrared sensor percentage
+
+        :return: Percentage between 0 and 100
+        :rtype: int
+        """
+        voltage = adc.read(TOP_RIGHT_CHANNEL)
+        return int((voltage - TOP_IR_MIN_VOLTAGE) / TOP_IR_MAX_VOLTAGE * 100)
+
+    @staticmethod
+    def bottom_left() -> bool:
+        """Get bottom left infrared sensor status
+
+        :return: True, if sensor detects IR signals
+        :rtype: bool
+        """
+        return GPIO.input(BOTTOM_LEFT_PIN)
+
+    @staticmethod
+    def bottom_middle() -> bool:
+        """Get bottom middle infrared sensor status
+
+        :return: True, if sensor detects IR signals
+        :rtype: bool
+        """
+        return GPIO.input(BOTTOM_MIDDLE_PIN)
+
+    @staticmethod
+    def bottom_right() -> bool:
+        """Get bottom right infrared sensor status
+
+        :return: True, if sensor detects IR signals
+        :rtype: bool
+        """
+        return GPIO.input(BOTTOM_RIGHT_PIN)