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Prod

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This commit is contained in:
Steven Tracey 2023-04-02 11:21:22 -04:00
parent d680fc0dfd
commit 9836e6058f
1 changed files with 7 additions and 6 deletions
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13
main.py
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@ -36,10 +36,10 @@ def move_to_light():
is_facing_light = False is_facing_light = False
while not is_facing_light: while not is_facing_light:
offset = light_sensor_1.read_u16() - light_sensor_2.read_u16() offset = light_sensor_1.read_u16() - light_sensor_2.read_u16()
if offset > 100 and cur_deg > 0: if offset > 50 and cur_deg > 0:
cur_deg = cur_deg - 1 cur_deg = cur_deg - 1
servo(cur_deg) servo(cur_deg - 5)
elif offset < -100 and cur_deg < 180: elif offset < -50 and cur_deg < 180:
cur_deg = cur_deg + 1 cur_deg = cur_deg + 1
servo(cur_deg) servo(cur_deg)
else: else:
@ -58,20 +58,21 @@ while True:
while reset_button.value() == 1: while reset_button.value() == 1:
time.sleep(.1) time.sleep(.1)
led.high() led.high()
continue
diff = light_sensor_1.read_u16() - light_sensor_2.read_u16() diff = light_sensor_1.read_u16() - light_sensor_2.read_u16()
run_avg = shift_array(run_avg, diff) run_avg = shift_array(run_avg, diff)
if calibrate_button.value() == 1: if calibrate_button.value() == 1:
cal_threshold = int((light_sensor_1.read_u16() + light_sensor_2.read_u16()) / 2) - 50 cal_threshold = int((light_sensor_1.read_u16() + light_sensor_2.read_u16()) / 2) - 25
while calibrate_button.value() == 1: while calibrate_button.value() == 1:
time.sleep(.1) time.sleep(.1)
if light_sensor_1.read_u16() > cal_threshold and light_sensor_2.read_u16() > cal_threshold: if cal_threshold == 0 or (light_sensor_1.read_u16() > cal_threshold and light_sensor_2.read_u16() > cal_threshold):
continue continue
num_over = 0 num_over = 0
first_iter = True first_iter = True
sign = True sign = True
for i in run_avg: for i in run_avg:
cur_num = i cur_num = i
if abs(cur_num) > 150: if abs(cur_num) > 75:
if first_iter: if first_iter:
if cur_num >= 0: if cur_num >= 0:
sign = True sign = True