def calculate_line_position(self, sensors): """ Calculate the line position as a weighted average Returns: position from -2.0 (far left) to +2.0 (far right), 0.0 = center, None if no line detected """ weighted_sum = 0 total_weight = 0 for i, reading in enumerate(sensors): if reading: # Line detected # Convert index to position: 0=-2, 1=-1, 2=0, 3=1, 4=2 position = i - 2 weighted_sum += position total_weight += 1 if total_weight > 0: return weighted_sum / total_weight else: return None # No line detected
print("\n=== MBot2 Line Follower ===") print("1. Quick start (default settings)") print("2. Run with calibration") print("3. Tune PID values") print("4. Exit") mbot2 line follower code
def stop(self): """Emergency stop - stops both motors""" self.bot.set_left_motor_speed(0) self.bot.set_right_motor_speed(0) print("Motors stopped") 0.0 = center