IR_sensor.IRArray Class Reference

Public Member Functions
	__init__ (self, int tim_num, int samples, IR_pins, sensor_indices=None)
	calibrate (self, str color)
	set_calibration (self)
	read (self)
	get_centroid (self)
	center_index (self)

Public Attributes
	tim_obj = Timer(tim_num, freq = 20000)
	samples = int(samples)
list	adcs = [ADC(Pin(p)) for p in IR_pins]
	num = len(self.adcs)
bool	white_cal = False
bool	black_cal = False
	sensor_index = list(range(1, self.num + 1))
list	black = [0.0] * self.num
list	white = [0.0] * self.num
list	norm = [0.0] * self.num

Detailed Description

IR sensor array driver with per-channel calibration and centroid calculation.
- Pins are specified by the caller (in main.py); driver creates ADCs.
- Supports flexible board index mapping (physical sensor indices printed on the board).
- Uses read_timed_multi() for calibration; read() uses single-shot for low overhead.

Constructor & Destructor Documentation

__init__()

IR_sensor.IRArray.__init__	(		self,
		int	tim_num,
		int	samples,
			IR_pins,
			sensor_indices = None )

Args:
    tim_num: Timer number for creating a timer for ADC sampling
    samples: Number of samples to average in calibration
    IR_pins: List of Pin.cpu.<X> constants (order: left -> right)
    sensor_indices: Optional list of physical board indices corresponding to the IR_pins list
                    (example: [1,3,5,7,9,11] if only odd sensors are populated). If None, indices default to [1..N] in the given order.

Member Function Documentation

calibrate()

IR_sensor.IRArray.calibrate	(		self,
		str	color )

Calibrate on 'w' (white background) or 'b' (black line).
Uses read_timed_multi() to fill per-channel buffers and averages them.
Prints a compact table of per-sensor averages for visual verification.
Returns the list of averages (float) in the same order as sensor_index.

Args:
    color: 'w' for white calibration, 'b' for black calibration

Returns:
    avgs: List containing average readings for each sensor after calibration

center_index()

IR_sensor.IRArray.center_index

(

self

)

Returns the ideal center location in index space.
For arbitrary index sets, use average of min and max (center of span).

get_centroid()

IR_sensor.IRArray.get_centroid

(

self

)

Compute centroid using the last normalized vector (or perform a read).
Returns:
    (centroid, seen)
    centroid: float in the index space (not 0..1; uses sensor_index values)
    seen: bool indicating if any signal was seen (sum(norm) > small eps)

read()

IR_sensor.IRArray.read

(

self

)

Single-shot read on all channels, normalized to [0,1].
0 ~ white (background), 1 ~ black (line).

Returns: list of floats, same order as IR_pins / sensor_index.

set_calibration()

IR_sensor.IRArray.set_calibration

(

self

)

Set calibration data from IR_cal.txt file if it exists.

Member Data Documentation

adcs

IR_sensor.IRArray.adcs = [ADC(Pin(p)) for p in IR_pins]

black

list IR_sensor.IRArray.black = [0.0] * self.num

black_cal

bool IR_sensor.IRArray.black_cal = False

norm

IR_sensor.IRArray.norm = [0.0] * self.num

num

IR_sensor.IRArray.num = len(self.adcs)

samples

IR_sensor.IRArray.samples = int(samples)

sensor_index

IR_sensor.IRArray.sensor_index = list(range(1, self.num + 1))

tim_obj

IR_sensor.IRArray.tim_obj = Timer(tim_num, freq = 20000)

white

list IR_sensor.IRArray.white = [0.0] * self.num

white_cal

bool IR_sensor.IRArray.white_cal = False

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The documentation for this class was generated from the following file:

• src/IR_sensor.py