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fixed some wrong object/variable names

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d3rped 2018-03-23 21:34:33 +01:00
parent 40c5adfa0b
commit d268198fa4
1 changed files with 7 additions and 7 deletions
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14
src/move.py
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@ -6,7 +6,7 @@ from odometry import Odometry
class Move: class Move:
def __init__(self, planet): def __init__(self):
try: try:
self._wheel_l = Wheel('outB') self._wheel_l = Wheel('outB')
self._wheel_r = Wheel('outC') self._wheel_r = Wheel('outC')
@ -29,16 +29,16 @@ class Move:
def calibrateBrightness(self): def calibrateBrightness(self):
i = 0 i = 0
self.maxbrightness = self._camera.getbrightness() self.maxbrightness = self._sensor.getbrightness()
self.minbrightness = self._camera.getbrightness() self.minbrightness = self._sensor.getbrightness()
self._wheel_l.speed_set(15) self._wheel_l.speed_set(15)
self._wheel_r.speed_set(-15) self._wheel_r.speed_set(-15)
self._wheel_r.run() self._wheel_r.run()
self._wheel_l.run() self._wheel_l.run()
tempvalue = 0 tempvalue = 0
while(i < 500): while(i < 500):
self._camera.refresh() self._sensor.refresh()
tempvalue = self._camera.getbrightness() tempvalue = self._sensor.getbrightness()
if(tempvalue > self.maxbrightness): if(tempvalue > self.maxbrightness):
self.maxbrightness = tempvalue self.maxbrightness = tempvalue
if(tempvalue < self.minbrightness): if(tempvalue < self.minbrightness):
@ -47,7 +47,7 @@ class Move:
self._wheel_l.stop() self._wheel_l.stop()
self._wheel_r.stop() self._wheel_r.stop()
self.edgebrightness = (self.maxbrightness + self.minbrightness)//2 self.edgebrightness = (self.maxbrightness + self.minbrightness)//2
while(not (self._camera.getbrightness() == self.edgebrightness)): while(not (self._sensor.getbrightness() == self.edgebrightness)):
self._wheel_l.speed_set(15) self._wheel_l.speed_set(15)
self._wheel_r.speed_set(-15) self._wheel_r.speed_set(-15)
self._wheel_l.stop() self._wheel_l.stop()
@ -77,7 +77,7 @@ class Move:
self._wheel_l.run() self._wheel_l.run()
self._wheel_r.run() self._wheel_r.run()
while (not self._sensor.bumperispressed() and self._sensor.lastcolor == None): while (self._sensor.bumperispressed() is not True and self._sensor.lastcolor is None):
self._camera.refresh() self._camera.refresh()
self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2) self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2)
self._wheel_r.speed_set(self._sensor.getbrightness()//2) self._wheel_r.speed_set(self._sensor.getbrightness()//2)