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@frogwoo
Last active January 8, 2017 18:08
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Simple code to read values from an analogue line sensor (using an ADC as this is for the Pi) and say if a line is detected or not. View https://theraspberryblonde.wordpress.com/2017/01/08/qre1113-analogue-line-sensor-with-raspberry-pi/ to see more details about how to use the code.
#!/usr/bin/python
import spidev
import time
# which ADC input the sensor is connected to
sensor = 0
# the boundary between no line detected and a line detected
boundary = 30
# open the spi connection for the ADC
spi = spidev.SpiDev()
spi.open(0, 0)
# read the ADC value for the given input
def getADC(adcnum):
r = spi.xfer2([1, 8 + adcnum << 4, 0])
data = ((r[1] & 3) << 8) + r[2]
return data
# find the average value where there isn't a line
# NOTE: for calibration to work, the robot must
# not be over the line at the start of the program
def calibrate():
val = 0
for i in range(100):
val += getADC(sensor)
time.sleep(0.05)
val /= 100
return val
noLineVal = calibrate()
while True:
# read the line sensor value
lineVal = getADC(sensor)
# if value higher than value for no line
if lineVal > noLineVal + boundary:
print "centre on line"
else:
print "not on line"
time.sleep(0.5)
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