From 40c5adfa0b9a5f62e50393516dd8a1dd999528fe Mon Sep 17 00:00:00 2001
From: d3rped <derped@c3d2.de>
Date: Thu, 22 Mar 2018 14:34:55 +0100
Subject: [PATCH] applied commit: 08e0f98. Moved the brightness updater into
 the refresh method.

---
 src/move.py     | 20 +++++++++-----------
 src/odometry.py |  2 +-
 src/planet.py   |  7 +++++++
 src/sensor.py   | 19 +++++++++++++------
 4 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/src/move.py b/src/move.py
index d102a7a..c778590 100644
--- a/src/move.py
+++ b/src/move.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 
-import ev3dev.ev3 as ev3
 from wheel import Wheel
 from sensor import Sensor
 from odometry import Odometry
@@ -11,16 +10,14 @@ class Move:
         try:
             self._wheel_l = Wheel('outB')
             self._wheel_r = Wheel('outC')
-            self._camera = Sensor()
-            self._bumper = ev3.TouchSensor()
+            self._sensor = Sensor()
+        except OSError:
+            print("ERROR: Cannot find Motor/Sensor")
             self.maxbrightness = 0
             self.minbrightness = 0
             self.edgebrightness = 0
             self._odometry = Odometry()
 
-        except OSError:
-            print("ERROR: Cannot find Motor/Sensor")
-
     '''
     determine maximum and minimum brightness of lines/white space
     depending on environment lighting
@@ -55,7 +52,7 @@ class Move:
             self._wheel_r.speed_set(-15)
         self._wheel_l.stop()
         self._wheel_r.stop()
-        # pass
+
     '''
     Function to correct errors should the robot wander astray
     '''
@@ -80,12 +77,13 @@ class Move:
         self._wheel_l.run()
         self._wheel_r.run()
 
-        while (not self._bumper.value() and self._camera.lastcolor == None):
+        while (not self._sensor.bumperispressed() and self._sensor.lastcolor == None):
             self._camera.refresh()
-            self._wheel_l.speed_set(self.maxbrightness//2 - self._camera.getbrightness()//2)
-            self._wheel_r.speed_set(self._camera.getbrightness()//2)
-            self._camera.getcolor()
+            self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2)
+            self._wheel_r.speed_set(self._sensor.getbrightness()//2)
+            self._sensor.getcolor()
             if(not isknownstation):
                 print(self._odometry.degree(self._wheel_l.getmovement(), self._wheel_r.getmovement(), 0))
+
         self._wheel_l.stop()
         self._wheel_r.stop()
diff --git a/src/odometry.py b/src/odometry.py
index 35d266b..ec37ad7 100644
--- a/src/odometry.py
+++ b/src/odometry.py
@@ -35,7 +35,7 @@ class Odometry:
         self.alpha = 0
 
 
-# worked fine outside the class as function in nano, maybe we must fix it a bit :)
+    # worked fine outside the class as function in nano, maybe we must fix it a bit :)
     def degree(self, delta_rotation_l, delta_rotation_r):  # delta_rotation_l/r should work with getmovement method
 
         self.alpha = ((delta_rotation_l * self._distance_per_tick - delta_rotation_r * self._distance_per_tick)/self._wheel_axis) + self.alpha
diff --git a/src/planet.py b/src/planet.py
index d78cf48..28e563e 100644
--- a/src/planet.py
+++ b/src/planet.py
@@ -50,6 +50,7 @@ class Planet:
     def __init__(self):
         """ Initializes the data structure """
         self._planetmap = {}
+        self._unexedge = []
         self._curnode = None
         self.target = None
 
@@ -73,6 +74,12 @@ class Planet:
     def getcurnode(self):
         return self._curnode
 
+    def addtounexedge(self, node_edge_list):
+        self._unexedge = self._unexedge + node_edge_list
+
+    def exploreedge(self, node_edge):
+        self._unexedge.remove(node_edge)
+
     '''
     Returns a shortest path between two nodes.
     Used Algorithm: Dijkstra's Algorithm
diff --git a/src/sensor.py b/src/sensor.py
index a7b6c9e..ca520e4 100644
--- a/src/sensor.py
+++ b/src/sensor.py
@@ -30,18 +30,25 @@ class Color(tuple, Enum):
 
 class Sensor:
     def __init__(self):
-        self._sensor = ev3.ColorSensor()
-        self._sensor.mode = 'RGB-RAW'
-        self.RGB = self._sensor.bin_data("hhh")
+        self._bumper = ev3.TouchSensor()
+        self._camera = ev3.ColorSensor()
+        self._camera.mode = 'RGB-RAW'
+        self.RGB = self._camera.bin_data("hhh")
+        self._brightness = self._camera.value()
         self.lastcolor = None
 
-    def refresh(self):
-        self.RGB = self._sensor.bin_data("hhh")
+    def bumperispressed(self):
+        self._bumper.value()
+
+    def refresh(self): # do we still want to check if the propper camera/sensor mode is set?
+        self.RGB = self._camera.bin_data("hhh")
+        self._brightness = self._camera.value()
 
     def getbrightness(self):
-        return self._sensor.value()
+        return self._brightness
 
     def getcolor(self):
+        if(self._camera.mode == 'RGB-RAW'):
             if(self.RGB[0] > Color.RED[0] and (self.RGB[1], self.RGB[2]) < (Color.RED[1], Color.RED[2])):
                 self.lastcolor = Color.RED
             if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):