Done!

main-comments-debug.py.inactive

@@ -0,0 +1,109 @@
+import time
+from machine import Pin, ADC, PWM
+
+light_sensor_1 = ADC(26)  # Side with servo on left
+light_sensor_2 = ADC(27)  # Side with servo on right
+servo_pwm = PWM(Pin(28, Pin.OUT))
+servo_pwm.freq(50)
+
+cur_deg = 90
+
+reset_button = Pin(14, Pin.IN)
+calibrate_button = Pin(15, Pin.IN)
+cal_threshold = 0
+
+led = Pin('WL_GPIO0', Pin.OUT)
+led.high()
+
+run_avg = [0, 0, 0, 0, 0]
+
+def servo(degrees):
+    if degrees > 180:
+        degrees = 180
+    if degrees < 0:
+        degrees = 0
+    max_duty = 2500000
+    min_duty = 500000
+    new_duty = min_duty + (max_duty - min_duty) * (degrees / 180)
+    print("Adjusted Position: ", degrees)
+    servo_pwm.duty_ns(int(new_duty))
+
+
+def shift_array(arr, num_to_add):
+    arr.pop(0)
+    arr.append(num_to_add)
+    return arr
+
+
+# If this quits prematurely, add required buffer in final else statement
+def move_to_light():
+    print("Init Move To Light")
+    global cur_deg
+    is_facing_light = False
+    while not is_facing_light:
+        offset = light_sensor_1.read_u16() - light_sensor_2.read_u16()
+        if offset > 100 and cur_deg > 0:
+            cur_deg = cur_deg - 1
+            servo(cur_deg)
+        elif offset < -100 and cur_deg < 180:
+            cur_deg = cur_deg + 1
+            servo(cur_deg)
+        else:
+            is_facing_light = True
+        print("Current Degrees in move to light: ", cur_deg)
+        time.sleep(.01)
+
+
+# Deg+ = More Light to Right
+# Deg- = More Light to Left
+# Lower number = more light
+
+servo(90)
+
+while True:
+    if reset_button.value() == 1:
+        led.low()
+        cur_deg = 90
+        servo(90)
+        cal_threshold = 0
+        run_avg = [0, 0, 0, 0, 0]
+        while reset_button.value() == 1:
+            time.sleep(.1)
+        led.high()
+    diff = light_sensor_1.read_u16() - light_sensor_2.read_u16()
+    run_avg = shift_array(run_avg, diff)
+    if calibrate_button.value() == 1:
+        print("Button is being pressed")
+        cal_threshold = int((light_sensor_1.read_u16() + light_sensor_2.read_u16()) / 2) - 50
+        print("Sensor 1 Val: ", light_sensor_1.read_u16())
+        print("Sensor 2 Val: ", light_sensor_2.read_u16())
+        while calibrate_button.value() == 1:
+            time.sleep(.1)
+        print("New Threshold: ", cal_threshold)
+    if light_sensor_1.read_u16() > cal_threshold and light_sensor_2.read_u16() > cal_threshold:
+        continue
+    num_over = 0
+    first_iter = True
+    sign = True
+    for i in run_avg:
+        cur_num = i
+        print("Cur Num:", cur_num)
+        if abs(cur_num) > 150:
+            if first_iter:
+                if cur_num >= 0:
+                    sign = True
+                else:
+                    sign = False
+                first_iter = False
+            if (cur_num >= 0 and not sign) or (cur_num < 0 and sign):
+                num_over = 0
+                first_iter = True
+                break
+            elif (cur_num >= 0 and sign) or (cur_num < 0 and not sign):
+                print("Hit")
+                num_over += 1
+    print("Num Over: ", num_over)
+    print("Sign: ", sign)
+    if num_over == 5:
+        move_to_light()
+        run_avg = [0, 0, 0, 0, 0]