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add default state if all sensors detect white

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Brendan Haines 2020-03-02 20:17:17 -07:00
parent 76863fa3ea
commit 453c155d5d
1 changed files with 2 additions and 0 deletions
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Software/python/hwtest.py
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@ -110,6 +110,8 @@ def control_thread():
brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1) 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) 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 # TODO: implement control stuff and drive outputs
new_time_data = [[this_time, line_position]] new_time_data = [[this_time, line_position]]