From 453c155d5d173ab8afd8deefc7cba94338d75404 Mon Sep 17 00:00:00 2001
From: Brendan Haines <brendan.haines@gmail.com>
Date: Mon, 2 Mar 2020 20:17:17 -0700
Subject: [PATCH] add default state if all sensors detect white

---
 Software/python/hwtest.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py
index ed7e131..5e8e693 100644
--- a/Software/python/hwtest.py
+++ b/Software/python/hwtest.py
@@ -110,6 +110,8 @@ def control_thread():
 
         brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1)
         line_position = np.sum((1 - brightness) * (np.arange(8) - 3.5))/np.sum(1-brightness)
+        if np.isnan(line_position):
+            line_position = 0
         # TODO: implement control stuff and drive outputs
 
         new_time_data = [[this_time, line_position]]