class sensorUnit(): def __init__(self): self.__bus=SPI(3,1) self.__bus.msh=20000 def getLeftDistance(self): self.__bus.writebytes([0x0C]) return self.__bus.readbytes(1)[0] def getRightDistance(self): self.__bus.writebytes([0x0B]) return self.__bus.readbytes(1)[0] def getLineSensor(self,temp): if temp<0 or temp>10: raise SyntaxError("Linesensor value out of bounds") self.__bus.writebytes([temp]) return self.__bus.readbytes(1)[0] def getLeftMiddleSensor(self): self.__bus.writebytes([14]) return self.__bus.readbytes(1)[0] def getRightMiddleSensor(self): self.__bus.writebytes([15]) return self.__bus.readbytes(1)[0]