fix: line_follower.py

Author: eigen-value

examples/line_follower.py

@@ -6,9 +6,9 @@
 def calculate_center(left: int, center: int, right: int):
     centroid = 0
     sum_weight = left + center + right
-    sum_values = left + 2*center + 3*right
+    sum_values = left + 2 * center + 3 * right
     if sum_weight != 0:
-        centroid = sum_values/sum_weight
+        centroid = sum_values / sum_weight
         centroid = 2 - centroid
     return centroid
 
@@ -23,36 +23,37 @@ def calculate_center(left: int, center: int, right: int):
 alvik.left_led.set_color(0, 0, 1)
 alvik.right_led.set_color(0, 0, 1)
 
-while not alvik.get_touch_up():
+while not alvik.get_touch_ok():
     sleep_ms(50)
 
 try:
-    while not alvik.get_touch_cancel():
-
-        line_sensors = alvik.get_line_sensors()
-        print(f' {line_sensors}')
-
-        error = calculate_center(*line_sensors)
-        control = error * kp
-
-        if control > 0.2:
-            alvik.left_led.set_color(1, 0, 0)
-            alvik.right_led.set_color(0, 0, 0)
-        elif control < -0.2:
-            alvik.left_led.set_color(1, 0, 0)
-            alvik.right_led.set_color(0, 0, 0)
-        else:
-            alvik.left_led.set_color(0, 1, 0)
-            alvik.right_led.set_color(0, 1, 0)
-
-        alvik.set_wheels_speed(30-control, 30+control)
-        sleep_ms(100)
-
-    while not alvik.get_touch_ok():
-        alvik.left_led.set_color(0, 0, 1)
-        alvik.right_led.set_color(0, 0, 1)
-        alvik.brake()
-        sleep_ms(100)
+    while True:
+        while not alvik.get_touch_cancel():
+
+            line_sensors = alvik.get_line_sensors()
+            print(f' {line_sensors}')
+
+            error = calculate_center(*line_sensors)
+            control = error * kp
+
+            if control > 0.2:
+                alvik.left_led.set_color(1, 0, 0)
+                alvik.right_led.set_color(0, 0, 0)
+            elif control < -0.2:
+                alvik.left_led.set_color(1, 0, 0)
+                alvik.right_led.set_color(0, 0, 0)
+            else:
+                alvik.left_led.set_color(0, 1, 0)
+                alvik.right_led.set_color(0, 1, 0)
+
+            alvik.set_wheels_speed(30 - control, 30 + control)
+            sleep_ms(100)
+
+        while not alvik.get_touch_ok():
+            alvik.left_led.set_color(0, 0, 1)
+            alvik.right_led.set_color(0, 0, 1)
+            alvik.brake()
+            sleep_ms(100)
 
 except KeyboardInterrupt as e:
     print('over')