def irRight():
"""Returns state of Right IR Obstacle sensor."""
irrx = sim_x + SIM_AXLE / 2 * sin(sim_direction) + SIM_FRONT * cos(sim_direction)
irry = sim_y - SIM_AXLE / 2 * cos(sim_direction) + SIM_FRONT * sin(sim_direction)
return sim_course.sim_atblock(irrx, irry)
def irLeft():
"""Returns state of Left IR Obstacle sensor."""
irlx = sim_x - SIM_AXLE / 2 * sin(sim_direction) + SIM_FRONT * cos(sim_direction)
irly = sim_y + SIM_AXLE / 2 * cos(sim_direction) + SIM_FRONT * sin(sim_direction)
return sim_course.sim_atblock(irlx, irly)
