Renewed Calibrate Function for RGB sensor. calibrateBrightness not yet Tested, calibrateRGB not completely implemented yet

src/move.py

@@ -12,6 +12,9 @@ class Move:
             self._wheel_r = Wheel('outC')
             self._camera = Sensor()
             self._bumper = ev3.TouchSensor()
+            self.maxbrightness
+            self.minbrightness
+            self.edgebrightness
         except OSError:
             print("ERROR: Cannot find Motor/Sensor")
 
@@ -20,8 +23,36 @@ class Move:
     depending on environment lighting
     '''
     def _calibrate(self):
-        pass
+        self._sensor.calibrateRGB()
+        self.calibrateBrightness()
+        # pass
 
+    def calibrateBrightness(self):
+        i = 0
+        self._camera.refresh()
+        maxbrightness, minbrightness = self._camera.getbrightness()
+        self._wheel_l.speed_set(5)
+        self._wheel_r.speed_set(-5)
+        self._wheel_r.run()
+        self._wheel_l.run()
+        tempvalue
+        while(i < 500):
+            self._camera.refresh()
+            tempvalue = self._camera.getbrightness()
+            if(tempvalue > self.maxbrightness):
+                self.maxbrightness = tempvalue
+            if(tempvalue < self.minbrightness):
+                self.minbrightness = tempvalue
+            i = i + 1
+        self._wheel_l.stop()
+        self._wheel_r.stop()
+        self.edgebrightness = (self.maxbrightness + self.minbrightness)/2
+        while(not (self.edgebrightness - 10 < self._camera.getbrightness() < self.edgebrightness + 10))
+            self._wheel_l.speed_set(5)
+            self._wheel_r.speed_set(-5)
+        self._wheel_l.stop()
+        self._wheel_r.stop()
+        # pass
     '''
     Function to correct errors should the robot wander astray
     '''
@@ -51,8 +82,7 @@ class Move:
             self._wheel_l.speed_set((60 - (self._camera.getbrightness()/5))-4)
             self._wheel_r.speed_set((self._camera.getbrightness()/5))
             self._camera.getcolor()
-            if(isknownstation == False):
+            if(not isknownstation):
                 pass  # run odometry stuff here
-
         self._wheel_l.stop()
         self._wheel_r.stop()

src/sensor.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import ev3dev.ev3 as ev3
-from enum import Enum, unique
+from enum import Enum
 
 '''
 add enum for color definitions (type should be tupel of int's).
@@ -34,6 +34,8 @@ class Sensor:
         self._sensor.mode = 'RGB-RAW'
         self.RGB = self._sensor.bin_data("hhh")
         self.lastcolor = None
+        self.maxbrightness
+        self.minbrightness
 
     def refresh(self):
         self.RGB = self._sensor.bin_data("hhh")
@@ -55,3 +57,7 @@ class Sensor:
 
     def setmode(self, newmode):
         self._sensor.mode = newmode
+
+    def calibrateRGB(self):
+        # Enums are uncangeable right? Dunno how to calibrate like that
+        pass