Applied commit: a540201

src/move.py

@@ -87,13 +87,16 @@ class Move:
         self._wheel_r.speed_set(self._sensor.edgebrightness//2)
         self._wheel_l.run()
         self._wheel_r.run()
-        while (not self._sensor.bumperwaspressed and self._sensor.lastcolor is None):
+        while (not self._sensor.bumperwaspressed):
             self._sensor.refresh()
             self._sensor.checkbumper()
+            self._sensor.getcolor()
+            if (not (self._sensor.lastcolor is None)):
+                break
             self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
             self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
-            self._sensor.getcolor()
             if(not isknownstation):
                 self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
+        # if() bumper or color
         self._wheel_l.stop()
         self._wheel_r.stop()

src/sensor.py

@@ -24,8 +24,8 @@ Y=(0.299 x R) + (0.587 x G) + (0.114 x B);
 
 
 class Color(tuple, Enum):
-    RED = (85, 40, 25)
-    BLUE = (25, 70, 85)
+    RED = (65, 30, 20)
+    BLUE = (20, 45, 60)
 
 
 class Sensor:
@@ -43,7 +43,7 @@ class Sensor:
         self.lastcolor = None
         self.edgebrightness = None
 
-    def refresh(self):  # do we still want to check if the propper camera/sensor mode is set?
+    def refresh(self):
         self.RGB = self._camera.bin_data("hhh")
         self._brightness = self._camera.value()
 
@@ -69,5 +69,11 @@ class Sensor:
             if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
                 self.lastcolor = Color.BLUE
 
-    def calibrateRGB(self):
-        pass
+    def calibrateRGB(self, color):
+        self.refresh()
+        if (color is Color.RED):
+            newRED = (self.RGB[0]-5, self.RGB[1]+5, self.RGB[2]+5)
+            Color.RED = newRED
+        elif (color is Color.BLUE):
+            newBLUE = (self.RGB[0]+5, self.RGB[1]-5, self.RGB[2]-5)
+            Color.BLUE = newBLUE