UpdateQTRs module

Houses the UpdateQTRs task class.

class UpdateQTRs.UpdateQTRs(qtrfront: QTRSensors, qtrrear: QTRSensors, s_pos: Share, linePosTarget_front: int = 3000, linePosTarget_rear: int = 2000)

Bases: object

“Manages BOTH QTR sensors.

Maintans a singular s_pos value to replace the “pos” variable that used to be in LineFollower.

Parameters:

  • qtrfront (QTRSensors.QTRSensors) – Front sensor.

  • qtrrear (QTRSensors.QTRSensors) – Rear sensor.

  • s_pos (Share) – Composite guess of line position.

  • linePosTarget_front (int, optional) – Target front line pos, only used for rear position scaling in this class. Defaults to 3000.

  • linePosTarget_rear (int, optional) – Target rear line pos, only used for rear position scaling in this class. Defaults to 2000.

run()

Implementation as a generator function

Yields:

int – machine state