Implemented rudimentary edge following. Also fixed a minor error in sensor.py

src/move.py

@@ -1,15 +1,38 @@
 #!/usr/bin/env python3
 
+import ev3dev.ev3 as ev3
 from wheel import Wheel
 from sensor import Sensor
 
 
 class Move:
     def __init__(self, planet):
-        pass
+        self._wheel_l = Wheel('outB')
+        self._wheel_r = Wheel('outC')
+        self._sensor = Sensor()
+        self._bumper = ev3.TouchSensor()
 
     def _calibrate(self):
         pass
 
     def _aligntoedge(self):
         pass
+
+    def getstationedges(self):
+        pass
+
+    def traversetonextstation(self, isknownstation):
+        self._wheel_l.speed_set = 20
+        self._wheel_r.speed_set = 20
+        self._wheel_l.run()
+        self._wheel_r.run()
+        while(self._bumper.value() == False):
+#            this does not work... why?
+#            self._wheel_l.speed_set(newspeed)
+#            self._wheel_r.speed_set(newspeed)
+            self._wheel_l._motor.duty_cycle_sp = 48 - self._sensor.getbrightness()
+            self._wheel_r._motor.duty_cycle_sp = self._sensor.getbrightness()
+            if(isknownstation == False):
+                pass #run odometry stuff here
+        self._wheel_l.stop()
+        self._wheel_r.stop()

src/sensor.py

@@ -20,7 +20,7 @@ class Sensor:
     # see https://stackoverflow.com/questions/687261/converting-rgb-to-grayscale-intensity
     def getbrightness(self):
         if(self._sensor.mode == 'COL-REFLECT'):
-            return self._sensor.value
+            return self._sensor.value()
         else:
             print("ERROR: incorrect sensor mode.")