k-space/sumorobot-firmware
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add line value and threshold calibration

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Silver Kuusik
2018-12-27 09:02:15 +01:00
committed by GitHub
parent 25dd06f4cc
commit 0c580d8c98
1 changed files with 13 additions and 3 deletions
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16
hal.py
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@@ -143,10 +143,20 @@ class Sumorobot(object):
return opponent return opponent
# Function to update line calibration and write it to the config file # Function to update line calibration and write it to the config file
def calibrate_line(self): def calibrate_line_value(self):
# Read the line sensor values # Read the line sensor values
self.config["left_line_threshold"] = self.adc_line_left.read() self.config["left_line_value"] = self.adc_line_left.read()
self.config["right_line_threshold"] = self.adc_line_right.read() self.config["right_line_value"] = self.adc_line_right.read()
# Update the config file
with open("config.part", "w") as config_file:
config_file.write(ujson.dumps(self.config))
os.rename("config.part", "config.json")
# Function to update line threshold calibration and write it to the config file
def calibrate_line_threshold(self, value):
# Read the line sensor values
self.config["left_line_threshold"] = value
self.config["right_line_threshold"] = value
# Update the config file # Update the config file
with open("config.part", "w") as config_file: with open("config.part", "w") as config_file:
config_file.write(ujson.dumps(self.config)) config_file.write(ujson.dumps(self.config))