From 0f1b696a20cd45fd05e0e44ec552f6973845b7e5 Mon Sep 17 00:00:00 2001
From: d3rped <derped@c3d2.de>
Date: Mon, 19 Mar 2018 00:44:57 +0100
Subject: [PATCH] Made an irrelevant adjustment. Also added some documentation
 to the source code.

---
 src/move.py   | 15 +++++++++++++--
 src/sensor.py | 22 +++++++++++++++-------
 2 files changed, 28 insertions(+), 9 deletions(-)

diff --git a/src/move.py b/src/move.py
index 473f38f..02045e2 100644
--- a/src/move.py
+++ b/src/move.py
@@ -12,18 +12,29 @@ class Move:
         self._sensor = Sensor()
         self._bumper = ev3.TouchSensor()
 
+    '''
+    determine maximum and minimum brightness of lines/white space
+    depending on environment lighting
+    '''
     def _calibrate(self):
         pass
 
+    '''
+    Function to correct errors should the robot wander astray
+    '''
     def _aligntoedge(self):
         pass
 
+    '''
+    uses odometry and the planet object to map edges that are connected to
+    current node.
+    '''
     def getstationedges(self):
         pass
 
     def traversetonextstation(self, isknownstation):
-        self._wheel_l.speed_set = 20
-        self._wheel_r.speed_set = 20
+        self._wheel_l.speed_set = 24
+        self._wheel_r.speed_set = 24
         self._wheel_l.run()
         self._wheel_r.run()
         while(self._bumper.value() == False):
diff --git a/src/sensor.py b/src/sensor.py
index d48c932..b86e44b 100644
--- a/src/sensor.py
+++ b/src/sensor.py
@@ -2,8 +2,14 @@
 
 import ev3dev.ev3 as ev3
 
+'''
+add enum for color definitions (type should be tupel of int's).
+later onwards compare the idividual readouts like this to determine the color:
+RED(>90, <40, <25)
+BLUE(<25, >75, >90)
+still needs to be tested and implemented
+'''
 
-# add enum for color definitions
 
 class Sensor:
     def __init__(self):
@@ -11,18 +17,20 @@ class Sensor:
         self._sensor.mode = 'COL-REFLECT'
 
     def iscolor(self, color):
-        curcol = self._sensor.bin_data("hhh")
-        if curcol == curcol:
-            return True
+        if(self._sensor.mode == 'RGB-RAW'):
+            curcol = self._sensor.bin_data("hhh")
+            if curcol == curcol:
+                return True
+            else:
+                return False
         else:
-            return False
+            print("ERROR: incorrect sensor mode:" + self._sensor.mode)
 
-    # see https://stackoverflow.com/questions/687261/converting-rgb-to-grayscale-intensity
     def getbrightness(self):
         if(self._sensor.mode == 'COL-REFLECT'):
             return self._sensor.value()
         else:
-            print("ERROR: incorrect sensor mode.")
+            print("ERROR: incorrect sensor mode:" + self._sensor.mode)
 
     def setmode(self, newmode):
         self._sensor.mode = newmode