class ReflectanceSob: def __init__(self): self.sensor = ReflectanceSensors(auto_calibrate=False) self.max_val = self.sensor.max_val def update(self): print('reflectance sensor updates') self.sensor.update() self.value = self.sensor.value def reset(self): self.sensor.reset()
class FollowLine: def __init__(self): self.reflectanseSensor = ReflectanceSensors() self.values = self.getValueList() self. values = self.isOnLine() def getValueList(self): self.reflectanseSensor.reset() self.reflectanseSensor.update() return self.reflectanseSensor.get_value() def isOnLine(self): nowValue = self.getValueList() offLineList = [0,1,4,5] for i in range(6): if i in offLineList and nowValue[i] < 0.2: return [(1000-(nowValue[i]*1000)),i] return [0,10] def getPriValues(self): return self.isOnLine()