Infrared Wrapper¶

class compLib.IRWrapper.IRWrapper¶

Wrapper around the IRSensor to enable calibration of the sensor

static adjust_for_calibration(raw_value: float) → float¶

Adjust a raw sensor value to 0 to 1000

Returns: Value between 0 and 1000, White and Black
Return type: float

static bottom_left_calibrated() → float¶

Returns calibrated value of the bottom left analog sensor

Returns: Value between 0 and 1000, White and Black
Return type: float

static bottom_middle_calibrated() → float¶

Returns calibrated value of the bottom middle analog sensor

Returns: Value between 0 and 1000, White and Black
Return type: float

static bottom_right_calibrated() → float¶

Returns calibrated value of the bottom right analog sensor

Returns: Value between 0 and 1000, White and Black
Return type: float

static calibrate()¶: Calibrate the black and white values of the IRSensors This is done by putting the bot on black line with the middle sensor Afterwards, all sensors are read for 2 seconds and filtered. The minimum value is used for white, maximum is black.

Examples¶

Calibrating analog sensors¶

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()))