merge head

config.json

@@ -2,10 +2,12 @@
 	"status_led_pin": 22,
 	"battery_coeff": 2.25,
 	"sumo_id": "xxxxxxxx",
-	"firmware_version": 0.3,
+	"firmware_version": "0.3.1",
 	"left_servo_tuning": 33,
 	"right_servo_tuning": 33,
 	"ultrasonic_distance": 40,
+	"left_line_value": 1000,
+	"right_line_value": 1000,
 	"left_line_threshold": 1000,
 	"right_line_threshold": 1000,
 	"sumo_server": "165.227.140.64:80",

hal.py

@@ -143,10 +143,20 @@ class Sumorobot(object):
         return opponent
 
     # 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
-        self.config["left_line_threshold"] = self.adc_line_left.read()
-        self.config["right_line_threshold"] = self.adc_line_right.read()
+        self.config["left_line_value"] = self.adc_line_left.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
         with open("config.part", "w") as config_file:
             config_file.write(ujson.dumps(self.config))
@@ -169,12 +179,12 @@ class Sumorobot(object):
 
         # Return the given line sensor value
         if dir == LEFT:
-            line = abs(self.get_line(LEFT) - self.config["left_line_threshold"]) > 1000
+            line = abs(self.get_line(LEFT) - self.config["left_line_value"]) > self.config["left_line_threshold"]
             self.set_led(LEFT_LINE, line)
             last_line = LEFT
             return line
         elif dir == RIGHT:
-            line = abs(self.get_line(RIGHT) - self.config["right_line_threshold"]) > 1000
+            line = abs(self.get_line(RIGHT) - self.config["right_line_value"]) > self.config["right_line_threshold"]
             self.set_led(RIGHT_LINE, line)
             last_line = RIGHT
             return line

main.py

@@ -88,9 +88,13 @@ def ws_handler():
             sumorobot.move(STOP)
             # for terminating delays in code
             sumorobot.terminate = True
-        elif b'calibrate_line' in data:
-            sumorobot.calibrate_line()
-            #print('main.py: calibrate_line')
+        elif b'calibrate_line_value' in data:
+            sumorobot.calibrate_line_value()
+            #print('main.py: calibrate_line_value')
+        elif b'calibrate_line_threshold' in data:
+            data = ujson.loads(data)
+            sumorobot.calibrate_line_threshold(int(data['val']))
+            #print('main.py: calibrate_line_threshold')
         elif b'Gone' in data:
             print("main.py: server said 410 Gone, attempting to reconnect...")
             #conn = uwebsockets.connect(url)