Add IRWrapper and change IRSensor logic

docs/source/conf.py

@@ -35,7 +35,7 @@ extensions = [
     'sphinx_rtd_theme'
 ]
 
-autodoc_mock_imports = ["smbus", "compLib.PCA9685", "RPi", "pigpio", "flask"]
+autodoc_mock_imports = ["smbus", "compLib.PCA9685", "RPi", "pigpio", "flask", "apt", "spidev"]
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']

docs/source/lib/IRWrapper.rst

@@ -0,0 +1,22 @@
+.. _lib_irwrapper:
+
+Infrared Wrapper
+****************
+
+.. autoclass:: compLib.IRWrapper.IRWrapper
+   :members:
+
+Examples
+=========
+
+Calibrating analog sensors
+--------------------------
+
+.. code-block:: python
+
+   from compLib import IRWrapper
+
+   ir = IRWrapper.IRWrapper()
+
+    ir.calibrate()
+    print("left {} middle {} right {}".format(ir.bottom_left_calibrated(), ir.bottom_middle_calibrated(), ir.bottom_right_calibrated()))

docs/source/lib/Linefollower.rst

@@ -0,0 +1,89 @@
+.. _lib_Linefollower:
+
+Linefollower Examples
+*********************
+
+Simple Linefollower
+-------------------------
+
+.. code-block:: python
+
+    import time
+
+    from IRWrapper import IRWrapper
+    from compLib.Motor import Motor
+
+    STRAIGHT_SPEED = 40.0
+    TURN_SPEED = 40.0
+
+    COLOR_BREAK = 500
+
+
+    def drive(left, right, active_break=False, back_mult=0.0):
+        left = max(min(left, 100), -100)
+        right = max(min(right, 100), -100)
+
+        print("left {} right {}".format(left, right))
+
+        Motor.power(0, left)
+        Motor.power(1, left * back_mult)
+        Motor.power(2, right * back_mult)
+        Motor.power(3, right)
+
+        if active_break:
+            time.sleep(0.001)
+
+            Motor.power(0, 10)
+            Motor.power(1, 10)
+            Motor.power(2, 10)
+            Motor.power(3, 10)
+
+            time.sleep(0.001)
+
+
+    def follow_till_line():
+        while True:
+            print("left: {:.2f}  middle: {:.2f}  right: {:.2f}".format(IRWrapper.bottom_left_calibrated(),
+                                                                       IRWrapper.bottom_middle_calibrated(),
+                                                                       IRWrapper.bottom_right_calibrated()))
+
+            left = IRWrapper.bottom_left_calibrated()
+            right = IRWrapper.bottom_right_calibrated()
+
+            if left > COLOR_BREAK:
+                drive(-TURN_SPEED, TURN_SPEED, back_mult=1.25)
+                while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
+                        IRWrapper.bottom_right_calibrated() < COLOR_BREAK:
+                    pass
+                drive(0, 0)
+            elif right > COLOR_BREAK:
+                drive(TURN_SPEED, -TURN_SPEED, back_mult=1.25)
+                while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
+                        IRWrapper.bottom_left_calibrated() < COLOR_BREAK:
+                    pass
+                drive(0, 0)
+            else:
+                drive(STRAIGHT_SPEED, STRAIGHT_SPEED, True)
+
+            if IRWrapper.bottom_left_calibrated() > 750 and IRWrapper.bottom_right_calibrated() > 750:
+                break
+
+        print("left: {}  middle: {}  right: {}".format(IRWrapper.bottom_left_calibrated(),
+                                                       IRWrapper.bottom_middle_calibrated(),
+                                                       IRWrapper.bottom_right_calibrated()))
+
+        drive(0, 0)
+
+        time.sleep(0.2)
+
+
+    if __name__ == "__main__":
+        # Put bot with middle sensor onto black line
+        IRWrapper.calibrate()
+
+        # Initialize Motors, so the bot doesn't speed off instantly
+        drive(1, 1)
+        time.sleep(1)
+
+        # Follow line, till the left and right sensor are on black
+        follow_till_line()