Update documentation

_sources/lib/Linefollower.rst.txt

@@ -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)

_sources/lib/QC.rst.txt

@@ -0,0 +1,71 @@
+.. _lib_qc:
+
+Quality Control
+###############
+
+Infrared Test
+-------------------------
+
+.. code-block:: python
+
+    from compLib.IRSensor import IRSensor
+    import time
+
+    IRSensor.set(1, True)
+    IRSensor.set(2, True)
+    IRSensor.set(3, True)
+    IRSensor.set(4, True)
+    IRSensor.set(5, True)
+
+    while True:
+        t = time.time()
+        for i in range(1, 6):
+            print(f"{i}: {IRSensor.read(i)}")
+        print("")
+        time.sleep(0.2)
+
+Motor Test
+-------------------------
+
+.. code-block:: python
+
+    from compLib.Motor import Motor
+    from compLib.Encoder import Encoder
+    import time
+
+    Motor.power(1, -50)
+    Motor.power(4, 50)
+
+    while True:
+        print(f"L:{Encoder.read(4)} R:{Encoder.read(1)}")
+        time.sleep(0.1)
+
+Servo Test
+-------------------------
+
+.. code-block:: python
+
+    from compLib.Servo import Servo
+    import time
+
+    for i in range(1, 8 + 1):
+        Servo.set_position(i, 45)
+        print(f"{i}")
+        time.sleep(1)
+
+    Servo.setup_position()
+    time.sleep(10)
+
+Vision Test
+-------------------------
+
+.. code-block:: python
+
+    import cv2
+    from compLib import Vision
+    from compLib.Servo import Servo
+
+    while True:
+        frame = Vision.Streaming.get_frame()
+        Vision.Streaming.publish_frame(frame)
+        Servo.set_position(3, -45)