Update documentation

_sources/lib/Linefollower.rst.txt

@@ -21,18 +21,16 @@ Simple Linefollower
     IRSensor.set(4, True)
     IRSensor.set(5, True)
 
-    DRIVE_SPEED = 85
+    DRIVE_SPEED = 75
-    TURN_SPEED = 50
+    COLOR_BREAK = 900
-    COLOR_BREAK = 750
+    KP = 10.0
-    KP = 50.0
     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(1, min(max(-100, rightSpeed), 100))
-        Motor.power(2, 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)

_static/basic.css

@@ -130,7 +130,7 @@ ul.search li a {
     font-weight: bold;
 }
 
-ul.search li p.context {
+ul.search li div.context {
     color: #888;
     margin: 2px 0 0 30px;
     text-align: left;
@@ -277,25 +277,25 @@ p.rubric {
     font-weight: bold;
 }
 
-img.align-left, figure.align-left, .figure.align-left, object.align-left {
+img.align-left, .figure.align-left, object.align-left {
     clear: left;
     float: left;
     margin-right: 1em;
 }
 
-img.align-right, figure.align-right, .figure.align-right, object.align-right {
+img.align-right, .figure.align-right, object.align-right {
     clear: right;
     float: right;
     margin-left: 1em;
 }
 
-img.align-center, figure.align-center, .figure.align-center, object.align-center {
+img.align-center, .figure.align-center, object.align-center {
   display: block;
   margin-left: auto;
   margin-right: auto;
 }
 
-img.align-default, figure.align-default, .figure.align-default {
+img.align-default, .figure.align-default {
   display: block;
   margin-left: auto;
   margin-right: auto;
@@ -319,8 +319,7 @@ img.align-default, figure.align-default, .figure.align-default {
 
 /* -- sidebars -------------------------------------------------------------- */
 
-div.sidebar,
+div.sidebar {
-aside.sidebar {
     margin: 0 0 0.5em 1em;
     border: 1px solid #ddb;
     padding: 7px;
@@ -378,14 +377,12 @@ div.body p.centered {
 /* -- content of sidebars/topics/admonitions -------------------------------- */
 
 div.sidebar > :last-child,
-aside.sidebar > :last-child,
 div.topic > :last-child,
 div.admonition > :last-child {
     margin-bottom: 0;
 }
 
 div.sidebar::after,
-aside.sidebar::after,
 div.topic::after,
 div.admonition::after,
 blockquote::after {
@@ -458,22 +455,20 @@ td > :last-child {
 
 /* -- figures --------------------------------------------------------------- */
 
-div.figure, figure {
+div.figure {
     margin: 0.5em;
     padding: 0.5em;
 }
 
-div.figure p.caption, figcaption {
+div.figure p.caption {
     padding: 0.3em;
 }
 
-div.figure p.caption span.caption-number,
+div.figure p.caption span.caption-number {
-figcaption span.caption-number {
     font-style: italic;
 }
 
-div.figure p.caption span.caption-text,
+div.figure p.caption span.caption-text {
-figcaption span.caption-text {
 }
 
 /* -- field list styles ----------------------------------------------------- */
@@ -508,63 +503,6 @@ table.hlist td {
     vertical-align: top;
 }
 
-/* -- object description styles --------------------------------------------- */
-
-.sig {
-	font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
-}
-
-.sig-name, code.descname {
-    background-color: transparent;
-    font-weight: bold;
-}
-
-.sig-name {
-	font-size: 1.1em;
-}
-
-code.descname {
-    font-size: 1.2em;
-}
-
-.sig-prename, code.descclassname {
-    background-color: transparent;
-}
-
-.optional {
-    font-size: 1.3em;
-}
-
-.sig-paren {
-    font-size: larger;
-}
-
-.sig-param.n {
-	font-style: italic;
-}
-
-/* C++ specific styling */
-
-.sig-inline.c-texpr,
-.sig-inline.cpp-texpr {
-	font-family: unset;
-}
-
-.sig.c   .k, .sig.c   .kt,
-.sig.cpp .k, .sig.cpp .kt {
-	color: #0033B3;
-}
-
-.sig.c   .m,
-.sig.cpp .m {
-	color: #1750EB;
-}
-
-.sig.c   .s, .sig.c   .sc,
-.sig.cpp .s, .sig.cpp .sc {
-	color: #067D17;
-}
-
 
 /* -- other body styles ----------------------------------------------------- */
 
@@ -691,6 +629,14 @@ dl.glossary dt {
     font-size: 1.1em;
 }
 
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
 .versionmodified {
     font-style: italic;
 }
@@ -819,12 +765,8 @@ div.code-block-caption code {
 
 table.highlighttable td.linenos,
 span.linenos,
-div.highlight span.gp {  /* gp: Generic.Prompt */
+div.doctest > div.highlight span.gp {  /* gp: Generic.Prompt */
-  user-select: none;
+    user-select: none;
-  -webkit-user-select: text; /* Safari fallback only */
-  -webkit-user-select: none; /* Chrome/Safari */
-  -moz-user-select: none; /* Firefox */
-  -ms-user-select: none; /* IE10+ */
 }
 
 div.code-block-caption span.caption-number {
@@ -839,6 +781,16 @@ div.literal-block-wrapper {
     margin: 1em 0;
 }
 
+code.descname {
+    background-color: transparent;
+    font-weight: bold;
+    font-size: 1.2em;
+}
+
+code.descclassname {
+    background-color: transparent;
+}
+
 code.xref, a code {
     background-color: transparent;
     font-weight: bold;

_static/doctools.js

@@ -29,14 +29,9 @@ if (!window.console || !console.firebug) {
 
 /**
  * small helper function to urldecode strings
- *
- * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
  */
 jQuery.urldecode = function(x) {
-  if (!x) {
+  return decodeURIComponent(x).replace(/\+/g, ' ');
-    return x
-  }
-  return decodeURIComponent(x.replace(/\+/g, ' '));
 };
 
 /**
@@ -301,14 +296,12 @@ var Documentation = {
               window.location.href = prevHref;
               return false;
             }
-            break;
           case 39: // right
             var nextHref = $('link[rel="next"]').prop('href');
             if (nextHref) {
               window.location.href = nextHref;
               return false;
             }
-            break;
         }
       }
     });

_static/language_data.js

@@ -13,8 +13,7 @@
 var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
 
 
-/* Non-minified version is copied as a separate JS file, is available */
+/* Non-minified version JS is _stemmer.js if file is provided */ 
-
 /**
  * Porter Stemmer
  */
@@ -200,6 +199,7 @@ var Stemmer = function() {
 
 
 
+
 var splitChars = (function() {
     var result = {};
     var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,

_static/pygments.css

@@ -1,7 +1,7 @@
 pre { line-height: 125%; }
-td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+td.linenos pre { color: #000000; background-color: #f0f0f0; padding-left: 5px; padding-right: 5px; }
-span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+span.linenos { color: #000000; background-color: #f0f0f0; padding-left: 5px; padding-right: 5px; }
-td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+td.linenos pre.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
 span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
 .highlight .hll { background-color: #ffffcc }
 .highlight { background: #f8f8f8; }

_static/searchtools.js

@@ -248,7 +248,7 @@ var Search = {
       // results left, load the summary and display it
       if (results.length) {
         var item = results.pop();
-        var listItem = $('<li></li>');
+        var listItem = $('<li style="display:none"></li>');
         var requestUrl = "";
         var linkUrl = "";
         if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') {
@@ -273,31 +273,28 @@ var Search = {
         if (item[3]) {
           listItem.append($('<span> (' + item[3] + ')</span>'));
           Search.output.append(listItem);
-          setTimeout(function() {
+          listItem.slideDown(5, function() {
             displayNextItem();
-          }, 5);
+          });
         } else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) {
           $.ajax({url: requestUrl,
                   dataType: "text",
                   complete: function(jqxhr, textstatus) {
                     var data = jqxhr.responseText;
                     if (data !== '' && data !== undefined) {
-                      var summary = Search.makeSearchSummary(data, searchterms, hlterms);
+                      listItem.append(Search.makeSearchSummary(data, searchterms, hlterms));
-                      if (summary) {
-                        listItem.append(summary);
-                      }
                     }
                     Search.output.append(listItem);
-                    setTimeout(function() {
+                    listItem.slideDown(5, function() {
                       displayNextItem();
-                    }, 5);
+                    });
                   }});
         } else {
           // no source available, just display title
           Search.output.append(listItem);
-          setTimeout(function() {
+          listItem.slideDown(5, function() {
             displayNextItem();
-          }, 5);
+          });
         }
       }
       // search finished, update title and status message
@@ -382,13 +379,6 @@ var Search = {
     return results;
   },
 
-  /**
-   * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions
-   */
-  escapeRegExp : function(string) {
-    return string.replace(/[.*+\-?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
-  },
-
   /**
    * search for full-text terms in the index
    */
@@ -412,14 +402,13 @@ var Search = {
       ];
       // add support for partial matches
       if (word.length > 2) {
-        var word_regex = this.escapeRegExp(word);
         for (var w in terms) {
-          if (w.match(word_regex) && !terms[word]) {
+          if (w.match(word) && !terms[word]) {
             _o.push({files: terms[w], score: Scorer.partialTerm})
           }
         }
         for (var w in titleterms) {
-          if (w.match(word_regex) && !titleterms[word]) {
+          if (w.match(word) && !titleterms[word]) {
               _o.push({files: titleterms[w], score: Scorer.partialTitle})
           }
         }
@@ -501,9 +490,6 @@ var Search = {
    */
   makeSearchSummary : function(htmlText, keywords, hlwords) {
     var text = Search.htmlToText(htmlText);
-    if (text == "") {
-      return null;
-    }
     var textLower = text.toLowerCase();
     var start = 0;
     $.each(keywords, function() {
@@ -515,7 +501,7 @@ var Search = {
     var excerpt = ((start > 0) ? '...' : '') +
       $.trim(text.substr(start, 240)) +
       ((start + 240 - text.length) ? '...' : '');
-    var rv = $('<p class="context"></p>').text(excerpt);
+    var rv = $('<div class="context"></div>').text(excerpt);
     $.each(hlwords, function() {
       rv = rv.highlightText(this, 'highlighted');
     });

genindex.html

@@ -1,31 +1,65 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" />
+  <meta charset="utf-8">
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Index &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+
+  
+  <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+
+  
+  
+  
+  
+
+  
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->
   
-        <script data-url_root="./" id="documentation_options" src="_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="./" src="_static/documentation_options.js"></script>
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
-    <script src="_static/js/theme.js"></script>
+    
+    <script type="text/javascript" src="_static/js/theme.js"></script>
+
+    
     <link rel="index" title="Index" href="#" />
     <link rel="search" title="Search" href="search.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="index.html" class="icon icon-home"> CompLib
+          
+
+          
+            <a href="index.html" class="icon icon-home" alt="Documentation Home"> CompLib
+          
+
+          
           </a>
+
+          
+            
+            
+          
+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -33,7 +67,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
+          
+        </div>
+
+        
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul>
 <li class="toctree-l1"><a class="reference internal" href="index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="other/usage.html">Usage</a></li>
@@ -45,33 +90,72 @@
 <li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
 </ul>
 
+            
+          
         </div>
+        
       </div>
     </nav>
 
-    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+      
+      <nav class="wy-nav-top" aria-label="top navigation">
+        
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
           <a href="index.html">CompLib</a>
+        
       </nav>
 
+
       <div class="wy-nav-content">
+        
         <div class="rst-content">
-          <div role="navigation" aria-label="Page navigation">
+        
+          
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<div role="navigation" aria-label="breadcrumbs navigation">
+
   <ul class="wy-breadcrumbs">
+    
       <li><a href="index.html" class="icon icon-home"></a> &raquo;</li>
+        
       <li>Index</li>
+    
+    
       <li class="wy-breadcrumbs-aside">
+        
+            
+        
       </li>
+    
   </ul>
+
+  
   <hr/>
 </div>
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
 
 <h1 id="index">Index</h1>
 
@@ -276,30 +360,49 @@
 
 
            </div>
+           
           </div>
           <footer>
+  
 
   <hr/>
 
   <div role="contentinfo">
-    <p>&#169; Copyright 2021, robo4you.</p>
+    <p>
-  </div>
+        
+        &copy; Copyright 2021, robo4you
 
-  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    </p>
-    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+  </div>
-    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+    
-   
+    
+    
+    Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
+    
+    <a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
+    
+    provided by <a href="https://readthedocs.org">Read the Docs</a>. 
 
 </footer>
+
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       </div>
+
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+
   </div>
-  <script>
+  
+
+  <script type="text/javascript">
       jQuery(function () {
           SphinxRtdTheme.Navigation.enable(true);
       });
-  </script> 
+  </script>
+
+  
+  
+    
+   
 
 </body>
 </html>

index.html

@@ -1,33 +1,66 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8">
-
+  
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Competition Robot Library &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+
+  
+  <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+
+  
+  
+  
+  
+
+  
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->
   
-        <script data-url_root="./" id="documentation_options" src="_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="./" src="_static/documentation_options.js"></script>
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
-    <script src="_static/js/theme.js"></script>
+    
+    <script type="text/javascript" src="_static/js/theme.js"></script>
+
+    
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
     <link rel="next" title="Usage" href="other/usage.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="#" class="icon icon-home"> CompLib
+          
+
+          
+            <a href="#" class="icon icon-home" alt="Documentation Home"> CompLib
+          
+
+          
           </a>
+
+          
+            
+            
+          
+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -35,7 +68,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
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+        </div>
+
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+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul class="current">
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="other/usage.html">Usage</a></li>
@@ -47,40 +91,80 @@
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 <li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
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+  <img alt="_images/compair-logo-white.svg" src="_images/compair-logo-white.svg" /><div class="section" id="competition-robot-library">
-<h1>Competition Robot Library<a class="headerlink" href="#competition-robot-library" title="Permalink to this headline"></a></h1>
+<h1>Competition Robot Library<a class="headerlink" href="#competition-robot-library" title="Permalink to this headline">¶</a></h1>
 <div class="toctree-wrapper compound">
 </div>
-<section id="contents">
+<div class="section" id="contents">
-<h2>Contents<a class="headerlink" href="#contents" title="Permalink to this headline"></a></h2>
+<h2>Contents<a class="headerlink" href="#contents" title="Permalink to this headline">¶</a></h2>
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@@ -142,6 +226,13 @@
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+<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#infrared-test">Infrared Test</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#motor-test">Motor Test</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#servo-test">Servo Test</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#vision-test">Vision Test</a></li>
+</ul>
+</li>
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 <li class="toctree-l2"><a class="reference internal" href="lib/Vision.html#opencv-stream">Opencv Stream</a></li>
@@ -154,37 +245,61 @@
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@@ -1,34 +1,67 @@
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-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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@@ -36,7 +69,18 @@
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 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -58,45 +102,85 @@
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            <div itemprop="articleBody">
-             
+            
-  <section id="api">
+  <div class="section" id="api">
-<span id="lib-api"></span><h1>Api<a class="headerlink" href="#api" title="Permalink to this headline"></a></h1>
+<span id="lib-api"></span><h1>Api<a class="headerlink" href="#api" title="Permalink to this headline">¶</a></h1>
-<section id="seeding">
+<div class="section" id="seeding">
-<h2>Seeding<a class="headerlink" href="#seeding" title="Permalink to this headline"></a></h2>
+<h2>Seeding<a class="headerlink" href="#seeding" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Api.Seeding">
+<dt id="compLib.Api.Seeding">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Api.</span></span><span class="sig-name descname"><span class="pre">Seeding</span></span><a class="headerlink" href="#compLib.Api.Seeding" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Api.</code><code class="sig-name descname">Seeding</code><a class="headerlink" href="#compLib.Api.Seeding" title="Permalink to this definition">¶</a></dt>
 <dd><p>Class used for communicating with seeding api</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.Seeding.get_cargo">
+<dt id="compLib.Api.Seeding.get_cargo">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_cargo</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">color</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_cargo" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_cargo</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">color</span><span class="p">:</span> <span class="n">str</span></em><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.Seeding.get_cargo" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/listCargo call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -112,8 +196,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.Seeding.get_delivery">
+<dt id="compLib.Api.Seeding.get_delivery">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_delivery</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_delivery" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_delivery</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.Seeding.get_delivery" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getDelivery call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -126,8 +210,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.Seeding.get_garbage">
+<dt id="compLib.Api.Seeding.get_garbage">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_garbage</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_garbage" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_garbage</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.Seeding.get_garbage" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getGarbage call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -140,8 +224,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.Seeding.get_material">
+<dt id="compLib.Api.Seeding.get_material">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_material</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_material" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_material</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.Seeding.get_material" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getMaterial call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -154,8 +238,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.Seeding.list_cargo">
+<dt id="compLib.Api.Seeding.list_cargo">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">list_cargo</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.list_cargo" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">list_cargo</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.Seeding.list_cargo" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/listCargo call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -169,16 +253,16 @@
 
 </dd></dl>
 
-</section>
+</div>
-<section id="double-elimination">
+<div class="section" id="double-elimination">
-<h2>Double Elimination<a class="headerlink" href="#double-elimination" title="Permalink to this headline"></a></h2>
+<h2>Double Elimination<a class="headerlink" href="#double-elimination" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim">
+<dt id="compLib.Api.DoubleElim">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Api.</span></span><span class="sig-name descname"><span class="pre">DoubleElim</span></span><a class="headerlink" href="#compLib.Api.DoubleElim" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Api.</code><code class="sig-name descname">DoubleElim</code><a class="headerlink" href="#compLib.Api.DoubleElim" title="Permalink to this definition">¶</a></dt>
 <dd><p>Class used for communicating with double elimination api</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_goal">
+<dt id="compLib.Api.DoubleElim.get_goal">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_goal</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_goal" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_goal</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">compLib.Api.Position</a><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_goal" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getGoal call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -191,8 +275,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_items">
+<dt id="compLib.Api.DoubleElim.get_items">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_items</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_items" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_items</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>List<span class="p">[</span>Dict<span class="p">]</span><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_items" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getItems call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -205,8 +289,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_meteoroids">
+<dt id="compLib.Api.DoubleElim.get_meteoroids">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_meteoroids</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_meteoroids" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_meteoroids</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>List<span class="p">[</span>Dict<span class="p">]</span><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_meteoroids" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getMeteoroids call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -219,8 +303,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_opponent">
+<dt id="compLib.Api.DoubleElim.get_opponent">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_opponent</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_opponent" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_opponent</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">compLib.Api.Position</a><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_opponent" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getOp call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -233,8 +317,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_position">
+<dt id="compLib.Api.DoubleElim.get_position">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_position</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_position" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_position</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">compLib.Api.Position</a><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_position" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getPos call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -247,8 +331,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_scores">
+<dt id="compLib.Api.DoubleElim.get_scores">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_scores</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_scores" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_scores</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_scores" title="Permalink to this definition">¶</a></dt>
 <dd><p>Makes the /api/getScores call to the api.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -262,20 +346,20 @@
 
 </dd></dl>
 
-</section>
+</div>
-<section id="position">
+<div class="section" id="position">
-<h2>Position<a class="headerlink" href="#position" title="Permalink to this headline"></a></h2>
+<h2>Position<a class="headerlink" href="#position" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Api.Position">
+<dt id="compLib.Api.Position">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Api.</span></span><span class="sig-name descname"><span class="pre">Position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">degrees</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Api.Position" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Api.</code><code class="sig-name descname">Position</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">x</span></em>, <em class="sig-param"><span class="n">y</span></em>, <em class="sig-param"><span class="n">degrees</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Api.Position" title="Permalink to this definition">¶</a></dt>
 <dd><p>Datastructure for holding a position</p>
 </dd></dl>
 
-</section>
+</div>
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="calling-seeding-api">
+<div class="section" id="calling-seeding-api">
-<h3>Calling Seeding API<a class="headerlink" href="#calling-seeding-api" title="Permalink to this headline"></a></h3>
+<h3>Calling Seeding API<a class="headerlink" href="#calling-seeding-api" 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.Api</span> <span class="kn">import</span> <span class="n">Seeding</span>
 
 <span class="n">zones</span><span class="p">,</span> <span class="n">code</span> <span class="o">=</span> <span class="n">Seeding</span><span class="o">.</span><span class="n">get_delivery</span><span class="p">()</span>
@@ -304,9 +388,9 @@
     <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The </span><span class="si">{</span><span class="n">package</span><span class="p">[</span><span class="s1">&#39;color&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2"> has been picked up!&quot;</span><span class="p">)</span>
 </pre></div>
 </div>
-</section>
+</div>
-<section id="calling-double-elimination-api">
+<div class="section" id="calling-double-elimination-api">
-<h3>Calling Double Elimination API<a class="headerlink" href="#calling-double-elimination-api" title="Permalink to this headline"></a></h3>
+<h3>Calling Double Elimination API<a class="headerlink" href="#calling-double-elimination-api" 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.Api</span> <span class="kn">import</span> <span class="n">DoubleElim</span>
 
 <span class="n">position</span><span class="p">,</span> <span class="n">status</span> <span class="o">=</span> <span class="n">DoubleElim</span><span class="o">.</span><span class="n">get_position</span><span class="p">()</span>
@@ -349,39 +433,64 @@
 </pre></div>
 </div>
 <p>In this second example we wait until the game is started by the judges and then make all possible requests once. You should use the wait_for_start function in your double elimination program. If your robot starts too soon your run will not count!</p>
-</section>
+</div>
-</section>
+</div>
-</section>
+</div>
 
 
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-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+  
-        <a href="Aruco.html" class="btn btn-neutral float-right" title="Aruco" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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-    <p>&#169; Copyright 2021, robo4you.</p>
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lib/Aruco.html

@@ -1,34 +1,67 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8">
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Aruco &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
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+  <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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   <!--[if lt IE 9]>
     <script src="../_static/js/html5shiv.min.js"></script>
   <![endif]-->
   
-        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
         <script src="../_static/jquery.js"></script>
         <script src="../_static/underscore.js"></script>
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     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Display" href="Display.html" />
     <link rel="prev" title="Api" href="Api.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
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       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="../index.html" class="icon icon-home"> CompLib
+          
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+          
+            <a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
+          
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+          
           </a>
+
+          
+            
+            
+          
+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
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+        </div>
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+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
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+            
+            
               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -54,40 +98,80 @@
 <li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
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+        
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           <a href="../index.html">CompLib</a>
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+    
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
+        
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+    
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           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="aruco">
+  <div class="section" id="aruco">
-<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline"></a></h1>
+<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline">¶</a></h1>
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="recognizing-aruco-tags">
+<div class="section" id="recognizing-aruco-tags">
-<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" title="Permalink to this headline"></a></h3>
+<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" title="Permalink to this headline">¶</a></h3>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
 <span class="kn">import</span> <span class="nn">cv2</span>
 <span class="kn">from</span> <span class="nn">cv2</span> <span class="kn">import</span> <span class="n">aruco</span>
@@ -158,39 +242,64 @@
 You can specify an ID of the tag you want to use and if it’s found, the coordinates of the center are returned.
 With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y.
 This way it is quite simple to act on the position of the tag.</p>
-</section>
+</div>
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+</div>
 
 
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lib/Display.html

@@ -1,34 +1,67 @@
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 <html class="writer-html5" lang="en" >
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   <title>Display &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
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 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
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+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="../index.html" class="icon icon-home"> CompLib
+          
+
+          
+            <a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
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           </a>
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+            
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+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
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               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -55,52 +99,92 @@
 <li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
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 </div>
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="display">
+  <div class="section" id="display">
-<span id="lib-display"></span><h1>Display<a class="headerlink" href="#display" title="Permalink to this headline"></a></h1>
+<span id="lib-display"></span><h1>Display<a class="headerlink" href="#display" title="Permalink to this headline">¶</a></h1>
-<section id="class-documentation">
+<div class="section" id="class-documentation">
-<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
+<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Display.Display">
+<dt id="compLib.Display.Display">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Display.</span></span><span class="sig-name descname"><span class="pre">Display</span></span><a class="headerlink" href="#compLib.Display.Display" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Display.</code><code class="sig-name descname">Display</code><a class="headerlink" href="#compLib.Display.Display" title="Permalink to this definition">¶</a></dt>
 <dd><p>Access the display on the robot.
 The display is split into 4 Rows and 16 Columns. Each function call changes one line at a time.</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Display.Display.clear">
+<dt id="compLib.Display.Display.clear">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Display.Display.clear" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">clear</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Display.Display.clear" title="Permalink to this definition">¶</a></dt>
 <dd><p>Clear the display</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Display.Display.write">
+<dt id="compLib.Display.Display.write">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">write</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">line</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">text</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Display.Display.write" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">write</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">line</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">text</span><span class="p">:</span> <span class="n">str</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Display.Display.write" title="Permalink to this definition">¶</a></dt>
 <dd><p>Write a string of text to the integrated display.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -117,50 +201,75 @@ The display is split into 4 Rows and 16 Columns. Each function call changes one
 
 </dd></dl>
 
-</section>
+</div>
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="write-a-line-to-the-display">
+<div class="section" id="write-a-line-to-the-display">
-<h3>Write a line to the display<a class="headerlink" href="#write-a-line-to-the-display" title="Permalink to this headline"></a></h3>
+<h3>Write a line to the display<a class="headerlink" href="#write-a-line-to-the-display" title="Permalink to this headline">¶</a></h3>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
 <span class="kn">from</span> <span class="nn">compLib.Display</span> <span class="kn">import</span> <span class="n">Display</span>
 
 <span class="n">Display</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="s2">&quot;Hello World!&quot;</span><span class="p">)</span>
 </pre></div>
 </div>
-</section>
+</div>
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+</div>
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+</div>
 
 
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lib/Encoder.html

@@ -1,34 +1,67 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Encoder &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
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-        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
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+
+    
     <link rel="index" title="Index" href="../genindex.html" />
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     <link rel="next" title="Infrared Sensor" href="IRSensor.html" />
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 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="../index.html" class="icon icon-home"> CompLib
+          
+
+          
+            <a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
+          
+
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           </a>
+
+          
+            
+            
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+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
+          
+        </div>
+
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+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -51,45 +95,85 @@
 <li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
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           <a href="../index.html">CompLib</a>
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+
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       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
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+    
+    
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+        
+            
             <a href="../_sources/lib/Encoder.rst.txt" rel="nofollow"> View page source</a>
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+    
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+
+  
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 </div>
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="encoder">
+  <div class="section" id="encoder">
-<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline"></a></h1>
+<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline">¶</a></h1>
-<section id="class-documentation">
+<div class="section" id="class-documentation">
-<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
+<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Encoder.Encoder">
+<dt id="compLib.Encoder.Encoder">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Encoder.</span></span><span class="sig-name descname"><span class="pre">Encoder</span></span><a class="headerlink" href="#compLib.Encoder.Encoder" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Encoder.</code><code class="sig-name descname">Encoder</code><a class="headerlink" href="#compLib.Encoder.Encoder" title="Permalink to this definition">¶</a></dt>
 <dd><p>Class used to read the encoders</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear">
+<dt id="compLib.Encoder.Encoder.clear">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">clear</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear" title="Permalink to this definition">¶</a></dt>
 <dd><p>Reset encoder position to 0</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -102,14 +186,14 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear_all">
+<dt id="compLib.Encoder.Encoder.clear_all">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear_all</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear_all" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">clear_all</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear_all" title="Permalink to this definition">¶</a></dt>
 <dd><p>Reset all encoder positions to 0</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read">
+<dt id="compLib.Encoder.Encoder.read">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">read</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition">¶</a></dt>
 <dd><p>Read encoder from a specified port</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -125,8 +209,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read_raw">
+<dt id="compLib.Encoder.Encoder.read_raw">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read_raw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">read_raw</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition">¶</a></dt>
 <dd><p>Read raw encoder from a specified port. Will not be reset to 0 at start.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -143,38 +227,63 @@
 
 </dd></dl>
 
-</section>
+</div>
-</section>
+</div>
 
 
            </div>
+           
           </div>
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@@ -54,43 +98,83 @@
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-             
+            
-  <section id="infrared-sensor">
+  <div class="section" id="infrared-sensor">
-<span id="lib-irsensor"></span><h1>Infrared Sensor<a class="headerlink" href="#infrared-sensor" title="Permalink to this headline"></a></h1>
+<span id="lib-irsensor"></span><h1>Infrared Sensor<a class="headerlink" href="#infrared-sensor" title="Permalink to this headline">¶</a></h1>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor">
+<dt id="compLib.IRSensor.IRSensor">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.IRSensor.</span></span><span class="sig-name descname"><span class="pre">IRSensor</span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.IRSensor.</code><code class="sig-name descname">IRSensor</code><a class="headerlink" href="#compLib.IRSensor.IRSensor" title="Permalink to this definition">¶</a></dt>
 <dd><p>Access the different IR Sensors of the robot</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.read">
+<dt id="compLib.IRSensor.IRSensor.read">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sensor</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor.read" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">read</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">sensor</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.IRSensor.IRSensor.read" title="Permalink to this definition">¶</a></dt>
 <dd><p>Read one infrared sensor</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -109,8 +193,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.set">
+<dt id="compLib.IRSensor.IRSensor.set">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sensor</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">bool</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.set" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">set</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">sensor</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">on</span><span class="p">:</span> <span class="n">bool</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.set" title="Permalink to this definition">¶</a></dt>
 <dd><p>Turn on / off a IR emitter</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -124,49 +208,74 @@
 
 </dd></dl>
 
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="testing-analog-sensors">
+<div class="section" id="testing-analog-sensors">
-<h3>Testing analog sensors<a class="headerlink" href="#testing-analog-sensors" title="Permalink to this headline"></a></h3>
+<h3>Testing analog sensors<a class="headerlink" href="#testing-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">IRSensor</span>
 
 <span class="k">while</span> <span class="kc">True</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">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">1</span><span class="p">),</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">3</span><span class="p">),</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">5</span><span class="p">)))</span>
 </pre></div>
 </div>
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   <!--[if lt IE 9]>
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+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
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 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
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@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
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+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
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 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -51,38 +95,78 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
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           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="linefollower-examples">
+  <div class="section" id="linefollower-examples">
-<span id="lib-linefollower"></span><h1>Linefollower Examples<a class="headerlink" href="#linefollower-examples" title="Permalink to this headline"></a></h1>
+<span id="lib-linefollower"></span><h1>Linefollower Examples<a class="headerlink" href="#linefollower-examples" title="Permalink to this headline">¶</a></h1>
-<section id="simple-linefollower">
+<div class="section" id="simple-linefollower">
-<h2>Simple Linefollower<a class="headerlink" href="#simple-linefollower" title="Permalink to this headline"></a></h2>
+<h2>Simple Linefollower<a class="headerlink" href="#simple-linefollower" title="Permalink to this headline">¶</a></h2>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
 <span class="kn">from</span> <span class="nn">compLib.Display</span> <span class="kn">import</span> <span class="n">Display</span>
 <span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
@@ -96,18 +180,16 @@
 <span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
 <span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
 
-<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">85</span>
+<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">75</span>
-<span class="n">TURN_SPEED</span> <span class="o">=</span> <span class="mi">50</span>
+<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">900</span>
-<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">750</span>
+<span class="n">KP</span> <span class="o">=</span> <span class="mf">10.0</span>
-<span class="n">KP</span> <span class="o">=</span> <span class="mf">50.0</span>
 <span class="n">KD</span> <span class="o">=</span> <span class="mf">0.0</span>
 
 <span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">leftSpeed</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">):</span>
-    <span class="n">leftSpeed</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
+    <span class="n">rightSpeed</span> <span class="o">*=</span> <span class="o">-</span><span class="mf">0.906</span>
-    <span class="n">rightSpeed</span> <span class="o">*=</span> <span class="mf">0.906</span>
 
-    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">leftSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
-    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">leftSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
 
 <span class="k">def</span> <span class="nf">follow</span><span class="p">(</span><span class="n">sleepTime</span> <span class="o">=</span> <span class="mf">0.1</span><span class="p">):</span>
     <span class="n">lastError</span> <span class="o">=</span> <span class="mi">0</span>
@@ -156,38 +238,63 @@
 <span class="n">main</span><span class="p">()</span>
 </pre></div>
 </div>
-</section>
+</div>
-</section>
+</div>
 
 
            </div>
+           
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-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+          <footer>
-        <a href="IRSensor.html" class="btn btn-neutral float-left" title="Infrared Sensor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+  
-        <a href="Logging.html" class="btn btn-neutral float-right" title="Logging" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+      
+        <a href="Logging.html" class="btn btn-neutral float-right" title="Logging" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
+      
+      
+        <a href="IRSensor.html" class="btn btn-neutral float-left" title="Infrared Sensor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
+      
     </div>
+  
 
   <hr/>
 
   <div role="contentinfo">
-    <p>&#169; Copyright 2021, robo4you.</p>
+    <p>
-  </div>
+        
+        &copy; Copyright 2021, robo4you
 
-  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    </p>
-    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+  </div>
-    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+    
-   
+    
+    
+    Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
+    
+    <a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
+    
+    provided by <a href="https://readthedocs.org">Read the Docs</a>. 
 
 </footer>
+
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       </div>
+
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+
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       jQuery(function () {
           SphinxRtdTheme.Navigation.enable(true);
       });
-  </script> 
+  </script>
+
+  
+  
+    
+   
 
 </body>
 </html>

lib/Logging.html

@@ -1,34 +1,67 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8">
-
+  
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Logging &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+
+  
+  <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+
+  
+  
+  
+  
+
+  
   <!--[if lt IE 9]>
     <script src="../_static/js/html5shiv.min.js"></script>
   <![endif]-->
   
-        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
         <script src="../_static/jquery.js"></script>
         <script src="../_static/underscore.js"></script>
         <script src="../_static/doctools.js"></script>
-    <script src="../_static/js/theme.js"></script>
+    
+    <script type="text/javascript" src="../_static/js/theme.js"></script>
+
+    
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Motor" href="Motor.html" />
     <link rel="prev" title="Linefollower Examples" href="Linefollower.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="../index.html" class="icon icon-home"> CompLib
+          
+
+          
+            <a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
+          
+
+          
           </a>
+
+          
+            
+            
+          
+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
+          
+        </div>
+
+        
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -55,45 +99,85 @@
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
 </ul>
 
+            
+          
         </div>
+        
       </div>
     </nav>
 
-    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+      
+      <nav class="wy-nav-top" aria-label="top navigation">
+        
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
           <a href="../index.html">CompLib</a>
+        
       </nav>
 
+
       <div class="wy-nav-content">
+        
         <div class="rst-content">
-          <div role="navigation" aria-label="Page navigation">
+        
+          
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<div role="navigation" aria-label="breadcrumbs navigation">
+
   <ul class="wy-breadcrumbs">
+    
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
+        
       <li>Logging</li>
+    
+    
       <li class="wy-breadcrumbs-aside">
+        
+            
             <a href="../_sources/lib/Logging.rst.txt" rel="nofollow"> View page source</a>
+          
+        
       </li>
+    
   </ul>
+
+  
   <hr/>
 </div>
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="logging">
+  <div class="section" id="logging">
-<span id="lib-logging"></span><h1>Logging<a class="headerlink" href="#logging" title="Permalink to this headline"></a></h1>
+<span id="lib-logging"></span><h1>Logging<a class="headerlink" href="#logging" title="Permalink to this headline">¶</a></h1>
-<section id="class-documentation">
+<div class="section" id="class-documentation">
-<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
+<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.LogstashLogging.Logging">
+<dt id="compLib.LogstashLogging.Logging">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.LogstashLogging.</span></span><span class="sig-name descname"><span class="pre">Logging</span></span><a class="headerlink" href="#compLib.LogstashLogging.Logging" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.LogstashLogging.</code><code class="sig-name descname">Logging</code><a class="headerlink" href="#compLib.LogstashLogging.Logging" title="Permalink to this definition">¶</a></dt>
 <dd><p>Can be used to manually use the logger or turn up the logging level used for debugging this library.</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.LogstashLogging.Logging.get_logger">
+<dt id="compLib.LogstashLogging.Logging.get_logger">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_logger</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">logging.Logger</span></span></span><a class="headerlink" href="#compLib.LogstashLogging.Logging.get_logger" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_logger</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; logging.Logger<a class="headerlink" href="#compLib.LogstashLogging.Logging.get_logger" title="Permalink to this definition">¶</a></dt>
 <dd><p>Get the logger object used to communicate with logstash</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -106,57 +190,82 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.LogstashLogging.Logging.set_debug">
+<dt id="compLib.LogstashLogging.Logging.set_debug">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_debug</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.LogstashLogging.Logging.set_debug" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">set_debug</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.LogstashLogging.Logging.set_debug" title="Permalink to this definition">¶</a></dt>
 <dd><p>Turns up the logging level of the library to debug. Should be used, when debugging with the
 Competition organizers</p>
 </dd></dl>
 
 </dd></dl>
 
-</section>
+</div>
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="turn-up-the-logging">
+<div class="section" id="turn-up-the-logging">
-<h3>Turn up the logging<a class="headerlink" href="#turn-up-the-logging" title="Permalink to this headline"></a></h3>
+<h3>Turn up the logging<a class="headerlink" href="#turn-up-the-logging" 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.LogstashLogging</span> <span class="kn">import</span> <span class="n">Logging</span>
 
 <span class="n">Logging</span><span class="o">.</span><span class="n">set_debug</span><span class="p">()</span>
 </pre></div>
 </div>
-</section>
+</div>
-</section>
+</div>
-</section>
+</div>
 
 
            </div>
+           
           </div>
-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+          <footer>
-        <a href="Linefollower.html" class="btn btn-neutral float-left" title="Linefollower Examples" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+  
-        <a href="Motor.html" class="btn btn-neutral float-right" title="Motor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+      
+        <a href="Motor.html" class="btn btn-neutral float-right" title="Motor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
+      
+      
+        <a href="Linefollower.html" class="btn btn-neutral float-left" title="Linefollower Examples" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
+      
     </div>
+  
 
   <hr/>
 
   <div role="contentinfo">
-    <p>&#169; Copyright 2021, robo4you.</p>
+    <p>
-  </div>
+        
+        &copy; Copyright 2021, robo4you
 
-  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    </p>
-    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+  </div>
-    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+    
-   
+    
+    
+    Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
+    
+    <a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
+    
+    provided by <a href="https://readthedocs.org">Read the Docs</a>. 
 
 </footer>
+
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       </div>
+
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+
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-  <script>
+  
+
+  <script type="text/javascript">
       jQuery(function () {
           SphinxRtdTheme.Navigation.enable(true);
       });
-  </script> 
+  </script>
+
+  
+  
+    
+   
 
 </body>
 </html>

lib/Motor.html

@@ -1,34 +1,67 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8">
-
+  
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Motor &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+
+  
+  <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+
+  
+  
+  
+  
+
+  
   <!--[if lt IE 9]>
     <script src="../_static/js/html5shiv.min.js"></script>
   <![endif]-->
   
-        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
         <script src="../_static/jquery.js"></script>
         <script src="../_static/underscore.js"></script>
         <script src="../_static/doctools.js"></script>
-    <script src="../_static/js/theme.js"></script>
+    
+    <script type="text/javascript" src="../_static/js/theme.js"></script>
+
+    
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
-    <link rel="next" title="Servo" href="Servo.html" />
+    <link rel="next" title="Quality Control" href="QC.html" />
     <link rel="prev" title="Logging" href="Logging.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-            <a href="../index.html" class="icon icon-home"> CompLib
+          
+
+          
+            <a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
+          
+
+          
           </a>
+
+          
+            
+            
+          
+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
+          
+        </div>
+
+        
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -55,45 +99,85 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
 </ul>
 
+            
+          
         </div>
+        
       </div>
     </nav>
 
-    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+      
+      <nav class="wy-nav-top" aria-label="top navigation">
+        
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
           <a href="../index.html">CompLib</a>
+        
       </nav>
 
+
       <div class="wy-nav-content">
+        
         <div class="rst-content">
-          <div role="navigation" aria-label="Page navigation">
+        
+          
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<div role="navigation" aria-label="breadcrumbs navigation">
+
   <ul class="wy-breadcrumbs">
+    
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
+        
       <li>Motor</li>
+    
+    
       <li class="wy-breadcrumbs-aside">
+        
+            
             <a href="../_sources/lib/Motor.rst.txt" rel="nofollow"> View page source</a>
+          
+        
       </li>
+    
   </ul>
+
+  
   <hr/>
 </div>
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="motor">
+  <div class="section" id="motor">
-<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline"></a></h1>
+<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline">¶</a></h1>
-<section id="class-documentation">
+<div class="section" id="class-documentation">
-<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
+<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Motor.Motor">
+<dt id="compLib.Motor.Motor">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Motor.</span></span><span class="sig-name descname"><span class="pre">Motor</span></span><a class="headerlink" href="#compLib.Motor.Motor" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Motor.</code><code class="sig-name descname">Motor</code><a class="headerlink" href="#compLib.Motor.Motor" title="Permalink to this definition">¶</a></dt>
 <dd><p>Class used to control the motors</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.active_break">
+<dt id="compLib.Motor.Motor.active_break">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">active_break</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.active_break" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">active_break</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.active_break" title="Permalink to this definition">¶</a></dt>
 <dd><p>Actively break with a specific motor</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -103,14 +187,14 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.all_off">
+<dt id="compLib.Motor.Motor.all_off">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">all_off</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.all_off" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">all_off</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.all_off" title="Permalink to this definition">¶</a></dt>
 <dd><p>Turns of all motors</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.get_motor_curve">
+<dt id="compLib.Motor.Motor.get_motor_curve">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_motor_curve</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.get_motor_curve" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">get_motor_curve</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.get_motor_curve" title="Permalink to this definition">¶</a></dt>
 <dd><p>Get the currently active motor curve. Check set_motor_curve() for more info.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -120,8 +204,8 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.power">
+<dt id="compLib.Motor.Motor.power">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">power</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">percent</span><span class="p">:</span> <span class="n">float</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Permalink to this definition">¶</a></dt>
 <dd><p>Set specified motor to percentage power, percentage is linearized
 so that it’s roughly proportional to the speed</p>
 <dl class="field-list simple">
@@ -138,8 +222,8 @@ so that it’s roughly proportional to the speed</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.power_raw">
+<dt id="compLib.Motor.Motor.power_raw">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">power_raw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">log_metric</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power_raw" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">power_raw</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">percent</span><span class="p">:</span> <span class="n">float</span></em>, <em class="sig-param"><span class="n">log_metric</span><span class="o">=</span><span class="default_value">True</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power_raw" title="Permalink to this definition">¶</a></dt>
 <dd><p>Set specified motor to percentage power</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -155,8 +239,8 @@ so that it’s roughly proportional to the speed</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.pwm">
+<dt id="compLib.Motor.Motor.pwm">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">pwm</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pwm</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">compLib.Motor.MotorMode</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pwm" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">pwm</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">pwm</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">mode</span><span class="p">:</span> <span class="n">compLib.Motor.MotorMode</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pwm" title="Permalink to this definition">¶</a></dt>
 <dd><p>Set specified motor to a specific pwm value and motor mode</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -173,8 +257,8 @@ so that it’s roughly proportional to the speed</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Motor.Motor.set_motor_curve">
+<dt id="compLib.Motor.Motor.set_motor_curve">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_motor_curve</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">curve</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.set_motor_curve" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">set_motor_curve</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">curve</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.set_motor_curve" title="Permalink to this definition">¶</a></dt>
 <dd><p>Set the global motor curve, must be a float array with exactly 21 elements.
 [0]  = x ticks/s  (0% power)
 [1]  = x ticks/s  (5% power)
@@ -193,50 +277,75 @@ so that it’s roughly proportional to the speed</p>
 
 </dd></dl>
 
-</section>
+</div>
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="driving-straight-maybe">
+<div class="section" id="driving-straight-maybe">
-<h3>Driving straight (maybe)<a class="headerlink" href="#driving-straight-maybe" title="Permalink to this headline"></a></h3>
+<h3>Driving straight (maybe)<a class="headerlink" href="#driving-straight-maybe" 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.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
 
 <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
 <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
 </pre></div>
 </div>
-</section>
+</div>
-</section>
+</div>
-</section>
+</div>
 
 
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lib/QC.html

@@ -0,0 +1,292 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8">
+  
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
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+  <title>Quality Control &mdash; CompLib 0.2.3 documentation</title>
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+    <link rel="index" title="Index" href="../genindex.html" />
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+    <link rel="next" title="Servo" href="Servo.html" />
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+<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Quality Control</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#infrared-test">Infrared Test</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#motor-test">Motor Test</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#servo-test">Servo Test</a></li>
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+           <div itemprop="articleBody">
+            
+  <div class="section" id="quality-control">
+<span id="lib-qc"></span><h1>Quality Control<a class="headerlink" href="#quality-control" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="infrared-test">
+<h2>Infrared Test<a class="headerlink" href="#infrared-test" title="Permalink to this headline">¶</a></h2>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
+<span class="kn">import</span> <span class="nn">time</span>
+
+<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+
+<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+    <span class="n">t</span> <span class="o">=</span> <span class="n">time</span><span class="o">.</span><span class="n">time</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">6</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="n">i</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.2</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="motor-test">
+<h2>Motor Test<a class="headerlink" href="#motor-test" title="Permalink to this headline">¶</a></h2>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
+<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
+<span class="kn">import</span> <span class="nn">time</span>
+
+<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">)</span>
+<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
+
+<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;L:</span><span class="si">{</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span><span class="si">}</span><span class="s2"> R:</span><span class="si">{</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="servo-test">
+<h2>Servo Test<a class="headerlink" href="#servo-test" title="Permalink to this headline">¶</a></h2>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Servo</span> <span class="kn">import</span> <span class="n">Servo</span>
+<span class="kn">import</span> <span class="nn">time</span>
+
+<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">8</span> <span class="o">+</span> <span class="mi">1</span><span class="p">):</span>
+    <span class="n">Servo</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="n">i</span><span class="p">,</span> <span class="mi">45</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+
+<span class="n">Servo</span><span class="o">.</span><span class="n">setup_position</span><span class="p">()</span>
+<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="vision-test">
+<h2>Vision Test<a class="headerlink" href="#vision-test" title="Permalink to this headline">¶</a></h2>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">cv2</span>
+<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
+<span class="kn">from</span> <span class="nn">compLib.Servo</span> <span class="kn">import</span> <span class="n">Servo</span>
+
+<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+    <span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
+    <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
+    <span class="n">Servo</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">45</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</div>
+
+
+           </div>
+           
+          </div>
+          <footer>
+  
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+      
+        <a href="Servo.html" class="btn btn-neutral float-right" title="Servo" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
+      
+      
+        <a href="Motor.html" class="btn btn-neutral float-left" title="Motor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
+      
+    </div>
+  
+
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+
+  <div role="contentinfo">
+    <p>
+        
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+
+    </p>
+  </div>
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+    
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+</body>
+</html>

lib/Servo.html

@@ -1,34 +1,67 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8">
-
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Servo &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
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+  <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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   <!--[if lt IE 9]>
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-        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
         <script src="../_static/jquery.js"></script>
         <script src="../_static/underscore.js"></script>
         <script src="../_static/doctools.js"></script>
-    <script src="../_static/js/theme.js"></script>
+    
+    <script type="text/javascript" src="../_static/js/theme.js"></script>
+
+    
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Vision" href="Vision.html" />
-    <link rel="prev" title="Motor" href="Motor.html" /> 
+    <link rel="prev" title="Quality Control" href="QC.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
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-            <a href="../index.html" class="icon icon-home"> CompLib
+          
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+            <a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
+          
+
+          
           </a>
+
+          
+            
+            
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+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -36,7 +69,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
+          
+        </div>
+
+        
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -48,43 +92,83 @@
 <li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Servo</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
 </ul>
 
+            
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+        
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+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
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+      <nav class="wy-nav-top" aria-label="top navigation">
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+
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+        
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+
   <ul class="wy-breadcrumbs">
+    
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
+        
       <li>Servo</li>
+    
+    
       <li class="wy-breadcrumbs-aside">
+        
+            
             <a href="../_sources/lib/Servo.rst.txt" rel="nofollow"> View page source</a>
+          
+        
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+    
   </ul>
+
+  
   <hr/>
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           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="servo">
+  <div class="section" id="servo">
-<span id="lib-servo"></span><h1>Servo<a class="headerlink" href="#servo" title="Permalink to this headline"></a></h1>
+<span id="lib-servo"></span><h1>Servo<a class="headerlink" href="#servo" title="Permalink to this headline">¶</a></h1>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Servo.Servo">
+<dt id="compLib.Servo.Servo">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Servo.</span></span><span class="sig-name descname"><span class="pre">Servo</span></span><a class="headerlink" href="#compLib.Servo.Servo" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Servo.</code><code class="sig-name descname">Servo</code><a class="headerlink" href="#compLib.Servo.Servo" title="Permalink to this definition">¶</a></dt>
 <dd><p>Control the servo ports on the robot</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Servo.Servo.set_position">
+<dt id="compLib.Servo.Servo.set_position">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">angle</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">offset</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span> <span class="o"><span class="pre">=</span></span> <span class="default_value"><span class="pre">90.0</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Servo.Servo.set_position" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">set_position</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">angle</span><span class="p">:</span> <span class="n">float</span></em>, <em class="sig-param"><span class="n">offset</span><span class="p">:</span> <span class="n">float</span> <span class="o">=</span> <span class="default_value">90.0</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Servo.Servo.set_position" title="Permalink to this definition">¶</a></dt>
 <dd><p>Set position of servo connected to port</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -97,44 +181,69 @@
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Servo.Servo.setup_position">
+<dt id="compLib.Servo.Servo.setup_position">
-<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">setup_position</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Servo.Servo.setup_position" title="Permalink to this definition"></a></dt>
+<em class="property">static </em><code class="sig-name descname">setup_position</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Servo.Servo.setup_position" title="Permalink to this definition">¶</a></dt>
 <dd><p>Set position of servos to the position used during the setup process</p>
 </dd></dl>
 
 </dd></dl>
 
-</section>
+</div>
 
 
            </div>
+           
           </div>
-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+          <footer>
-        <a href="Motor.html" class="btn btn-neutral float-left" title="Motor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+  
-        <a href="Vision.html" class="btn btn-neutral float-right" title="Vision" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+      
+        <a href="Vision.html" class="btn btn-neutral float-right" title="Vision" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
+      
+      
+        <a href="QC.html" class="btn btn-neutral float-left" title="Quality Control" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
+      
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+  
 
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+    <p>
-  </div>
+        
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 </html>

lib/Vision.html

@@ -1,33 +1,66 @@
+
+
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8">
-
+  
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
   <title>Vision &mdash; CompLib 0.2.3 documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+  
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+
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+  <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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+  
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   <!--[if lt IE 9]>
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-        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
         <script src="../_static/jquery.js"></script>
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-    <script src="../_static/js/theme.js"></script>
+    
+    <script type="text/javascript" src="../_static/js/theme.js"></script>
+
+    
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="prev" title="Servo" href="Servo.html" /> 
 </head>
 
-<body class="wy-body-for-nav"> 
+<body class="wy-body-for-nav">
+
+   
   <div class="wy-grid-for-nav">
+    
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
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+          
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+          
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+          
+
+          
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+
+          
+            
+            
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+
+          
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" />
@@ -35,7 +68,18 @@
     <input type="hidden" name="area" value="default" />
   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+
+          
+        </div>
+
+        
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
               <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
@@ -47,6 +91,7 @@
 <li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Vision</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="#opencv-stream">Opencv Stream</a></li>
@@ -59,32 +104,71 @@
 </li>
 </ul>
 
+            
+          
         </div>
+        
       </div>
     </nav>
 
-    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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+
+      
+      <nav class="wy-nav-top" aria-label="top navigation">
+        
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           <a href="../index.html">CompLib</a>
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+<div role="navigation" aria-label="breadcrumbs navigation">
+
   <ul class="wy-breadcrumbs">
+    
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
+        
       <li>Vision</li>
+    
+    
       <li class="wy-breadcrumbs-aside">
+        
+            
             <a href="../_sources/lib/Vision.rst.txt" rel="nofollow"> View page source</a>
+          
+        
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+    
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+
+  
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           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
-  <section id="vision">
+  <div class="section" id="vision">
-<span id="lib-vision"></span><h1>Vision<a class="headerlink" href="#vision" title="Permalink to this headline"></a></h1>
+<span id="lib-vision"></span><h1>Vision<a class="headerlink" href="#vision" title="Permalink to this headline">¶</a></h1>
 <p>This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.</p>
 <p>How do I use this module?</p>
 <ol class="arabic simple">
@@ -93,21 +177,21 @@
 <li><p>Publish the processed frames on an http server</p></li>
 <li><p>You can view the http stream of your processed images in a web browser</p></li>
 </ol>
-<section id="opencv-stream">
+<div class="section" id="opencv-stream">
-<h2>Opencv Stream<a class="headerlink" href="#opencv-stream" title="Permalink to this headline"></a></h2>
+<h2>Opencv Stream<a class="headerlink" href="#opencv-stream" title="Permalink to this headline">¶</a></h2>
 <p>Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
 to 5 Seconds.</p>
 <dl class="py class">
-<dt class="sig sig-object py" id="compLib.Vision.__Streaming">
+<dt id="compLib.Vision.__Streaming">
-<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Vision.</span></span><span class="sig-name descname"><span class="pre">__Streaming</span></span><a class="headerlink" href="#compLib.Vision.__Streaming" title="Permalink to this definition"></a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">compLib.Vision.</code><code class="sig-name descname">__Streaming</code><a class="headerlink" href="#compLib.Vision.__Streaming" title="Permalink to this definition">¶</a></dt>
 <dd><p>Class that handles rtmp streaming for opencv.</p>
 <p>DO NOT CREATE AN INSTANCE OF THIS CLASS YOURSELF!</p>
 <p>This is automatically done when importing this module. Use Vision.Streaming which is
 an instance of this class!</p>
 <p>grab frames -&gt; do your own processing -&gt; publish frame -&gt; view on http server</p>
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Vision.__Streaming.get_frame">
+<dt id="compLib.Vision.__Streaming.get_frame">
-<span class="sig-name descname"><span class="pre">get_frame</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.get_frame" title="Permalink to this definition"></a></dt>
+<code class="sig-name descname">get_frame</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.get_frame" title="Permalink to this definition">¶</a></dt>
 <dd><p>Grab the newest frame from the rtmp stream.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns</dt>
@@ -117,8 +201,8 @@ an instance of this class!</p>
 </dd></dl>
 
 <dl class="py method">
-<dt class="sig sig-object py" id="compLib.Vision.__Streaming.publish_frame">
+<dt id="compLib.Vision.__Streaming.publish_frame">
-<span class="sig-name descname"><span class="pre">publish_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">image</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.publish_frame" title="Permalink to this definition"></a></dt>
+<code class="sig-name descname">publish_frame</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.publish_frame" title="Permalink to this definition">¶</a></dt>
 <dd><p>Publish an opencv frame to the http webserver.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
@@ -132,11 +216,11 @@ an instance of this class!</p>
 
 </dd></dl>
 
-</section>
+</div>
-<section id="examples">
+<div class="section" id="examples">
-<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
+<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
-<section id="using-the-vision-module">
+<div class="section" id="using-the-vision-module">
-<h3>Using the Vision Module<a class="headerlink" href="#using-the-vision-module" title="Permalink to this headline"></a></h3>
+<h3>Using the Vision Module<a class="headerlink" href="#using-the-vision-module" title="Permalink to this headline">¶</a></h3>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">cv2</span>
 <span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
 
@@ -155,9 +239,9 @@ your raspberry pi camera. Note: the stream will lag a little bit BUT the process
 realtime.</p>
 <p>The output on the website should show whatever your raspberry pi cam records:</p>
 <a class="reference internal image-reference" href="../_images/opencv_http_stream.png"><img alt="Processed frames from opencv" src="../_images/opencv_http_stream.png" style="width: 680px;" /></a>
-</section>
+</div>
-<section id="chessboard-detection">
+<div class="section" id="chessboard-detection">
-<h3>Chessboard Detection<a class="headerlink" href="#chessboard-detection" title="Permalink to this headline"></a></h3>
+<h3>Chessboard Detection<a class="headerlink" href="#chessboard-detection" title="Permalink to this headline">¶</a></h3>
 <p>In this example we process the captured stream of images and want to detect chessboards. Run this example and
 point your raspberry pi camera to a chessboard and it should be detected.</p>
 <p>For testing you can point it at this image:</p>
@@ -189,38 +273,62 @@ point your raspberry pi camera to a chessboard and it should be detected.</p>
 <a class="reference internal image-reference" href="../_images/chessboard_detected.jpg"><img alt="Processed frames from opencv" src="../_images/chessboard_detected.jpg" style="width: 680px;" /></a>
 <p>Here is a screenshot of the stream website while viewing the chessboard in this documentation.</p>
 <a class="reference internal image-reference" href="../_images/opencv_processed.png"><img alt="Processed frames from opencv" src="../_images/opencv_processed.png" style="width: 680px;" /></a>
-</section>
+</div>
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+</div>
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@@ -1,34 +1,67 @@
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   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
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@@ -36,7 +69,18 @@
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   </form>
 </div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
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 <li class="toctree-l1 current"><a class="current reference internal" href="#">Usage</a></li>
@@ -48,36 +92,76 @@
 <li class="toctree-l1"><a class="reference internal" href="../lib/Linefollower.html">Linefollower Examples</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../lib/Logging.html">Logging</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../lib/Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../lib/QC.html">Quality Control</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../lib/Servo.html">Servo</a></li>
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+    
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           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
-             
+            
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+  <div class="section" id="usage">
-<span id="other-usage"></span><h1>Usage<a class="headerlink" href="#usage" title="Permalink to this headline"></a></h1>
+<span id="other-usage"></span><h1>Usage<a class="headerlink" href="#usage" title="Permalink to this headline">¶</a></h1>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
 <span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="o">*</span>
 
@@ -102,37 +186,62 @@
     <span class="n">main</span><span class="p">()</span>
 </pre></div>
 </div>
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+</div>
 
 
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@@ -48,33 +92,72 @@
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+<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a></li>
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