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]
