From c1f68b84e37608df392d2ba17e8cca5db2a8aa1f Mon Sep 17 00:00:00 2001
From: haselnussbier <justen.paul99@gmail.com>
Date: Sat, 24 Mar 2018 19:56:29 +0100
Subject: [PATCH] Applied commit: a540201, the previous one was actually
 5855373

---
 src/move.py   | 19 +++++++++++++++++--
 src/sensor.py | 22 ++++++++++++----------
 2 files changed, 29 insertions(+), 12 deletions(-)

diff --git a/src/move.py b/src/move.py
index 3e9d51f..5771d96 100644
--- a/src/move.py
+++ b/src/move.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import ev3dev.ev3 as ev3
 from wheel import Wheel
 from sensor import Sensor
 from odometry import Odometry
@@ -33,9 +34,23 @@ class Move:
     depending on environment lighting
     '''
     def _calibrate(self):
-        self._sensor.calibrateRGB()
+        ev3.Sound.beep()
+        while(not self._sensor.bumperwaspressed):
+            self._sensor.checkbumper()
+        self._sensor.reset()
         self._sensor.calibrateBrightness()
-        # pass
+        sleep(2)
+        ev3.Sound.beep()
+        while(not self._sensor.bumperwaspressed):
+            self._sensor.checkbumper()
+        self._sensor.reset()
+        self._sensor.calibrateRGB(self._sensor.red)
+        sleep(2)
+        ev3.Sound.beep()
+        while(not self._sensor.bumperwaspressed):
+            self._sensor.checkbumper()
+        self._sensor.calibrateRGB(self._sensor.blue)
+        self._sensor.reset()
 
     '''
     Function to correct errors should the robot wander astray
diff --git a/src/sensor.py b/src/sensor.py
index dea8c5f..bd22316 100644
--- a/src/sensor.py
+++ b/src/sensor.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import ev3dev.ev3 as ev3
-from enum import Enum
 
 '''
 add enum for color definitions (type should be tupel of int's).
@@ -22,10 +21,11 @@ Formula:
 Y=(0.299 x R) + (0.587 x G) + (0.114 x B);
 '''
 
-
+'''
 class Color(tuple, Enum):
     RED = (65, 30, 20)
     BLUE = (20, 45, 60)
+'''
 
 
 class Sensor:
@@ -42,6 +42,8 @@ class Sensor:
             print("Error while setting up sensors. Please make sure that everything is plugged in properly.")
         self.lastcolor = None
         self.edgebrightness = None
+        self.red = None
+        self.blue = None
 
     def refresh(self):
         self.RGB = self._camera.bin_data("hhh")
@@ -64,16 +66,16 @@ class Sensor:
 
     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])):
-                self.lastcolor = Color.BLUE
+            if(self.RGB[0] > self.red[0] and (self.RGB[1], self.RGB[2]) < (self.red[1], self.red[2])):
+                self.lastcolor = self.red
+            if(self.RGB[0] < self.blue[0] and (self.RGB[1], self.RGB[2]) > (self.blue[1], self.blue[2])):
+                self.lastcolor = self.blue
 
     def calibrateRGB(self, color):
         self.refresh()
-        if (color is Color.RED):
+        if (color is self.red):
             newRED = (self.RGB[0]-5, self.RGB[1]+5, self.RGB[2]+5)
-            Color.RED = newRED
-        elif (color is Color.BLUE):
+            self.red = newRED
+        elif (color is self.blueE):
             newBLUE = (self.RGB[0]+5, self.RGB[1]-5, self.RGB[2]-5)
-            Color.BLUE = newBLUE
+            self.blue = newBLUE