line_task.py File Reference

This file contains a class to create a line_task object which is compatible with the cotask scheduler to run as a cooperative task. More...

Go to the source code of this file.

Classes
class	line_task.line_task
	line_task class that can be initialized to be run with the cotask scheduler. More...

Namespaces
namespace	line_task

Functions
	line_task.run (self)
	run is the generator that the cotask scheduler will run since our tasks are objects.

Variables
int	line_task.SENSOR_START = 0
int	line_task.SENSOR_END = 12
int	line_task.state = 0:
	line_task.black_data = list(self.lineSensor.read_Calibrate_Data())
bool	line_task.got_black = True
	line_task.white_data = list(self.lineSensor.read_Calibrate_Data())
bool	line_task.got_white = True

Detailed Description

This file contains a class to create a line_task object which is compatible with the cotask scheduler to run as a cooperative task.

This task is a finite state machine implementation that calibrates the line sensor on startup and then simply reads the centroid of the line sensor forever once its calibrated.

NOTE: The outer 2 ir sensors are turned off by setting the corresponding self.sens_dist value to 0. Helped with line following lines that split.

IMPORTANT: Calibrating the sensor requires a text file name IR_cal.txt. This calibration will write that file but the user will need to stop ROMI, pull the file off onto a local computer and reflash it to the ROMI. If you do not, ROMI will not recognize the new file and will not calibrate.

Author

Alex Power, Lucas Heuchert, Erik Heuchert

Date

2025-Nov-11 Approximate date of creation of file

2025-Dec-12 Final alterations made

Definition in file line_task.py.