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sensors.py
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sensors.py
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from kipr import analog, push_button, msleep, analog_et
from createserial.commands import read_cliff_signals
import constants as c
import actions as a
def read_cliffs():
right_cliff_sig, left_cliff_sig = read_cliff_signals()
# print("Right: ", right_cliff_sig, "Left: ", left_cliff_sig)
return right_cliff_sig, left_cliff_sig
def on_white():
if analog_et(0) < c.TOPHAT_THRESHOLD:
return True
else:
return False
def calibrate(port):
print("Press button with light on")
while not push_button():
pass
while push_button():
pass
light_on = analog(port)
print("On value =", light_on)
if light_on > 200:
print("Bad calibration")
return False
msleep(1000)
print("Press button with light off")
while not push_button():
pass
while push_button():
pass
light_off = analog(port)
print("Off value =", light_off)
if light_off < 3000:
print("Bad calibration")
return False
if (light_off - light_on) < 2000:
print("Bad calibration")
return False
c.START_LIGHT_THRESHOLD = (light_off - light_on) / 2
print("Good calibration! ", c.START_LIGHT_THRESHOLD)
return True
def wait_4(port):
print("waiting for light!! ")
while analog(port) > c.START_LIGHT_THRESHOLD:
pass
def wait_4_light(ignore=False):
if ignore:
a.wait_for_button()
return
while not calibrate(c.START_LIGHT):
pass
wait_4(c.START_LIGHT)