Learn Robotics Programming

Adding the sensors to the Robot object

Open up robot.py from the last chapter. In the imports section, we will want the LineSensor object from GPIO Zero:

from gpiozero import LineSensor

In the constructor, the __init__ method for the robot object, we can set up our line sensors. While the names lsensor and rsensor are fine for the test code, in the robot object, we will have other sensors later, also on the left and right. So it's better to be explicit in naming these. We'll call them left_line_sensor and right_line_sensor. The following is that section of the code, with the new code in bold:

    def __init__(self, motorhat_addr=0x6f):        # Setup the motorhat with the passed in address        self._mh = Raspi_MotorHAT(addr=motorhat_addr) # get local variable ...