Ch-6 clean

ch-6/7-demos/encoder_mouse_demo.py

@@ -12,13 +12,13 @@ last_y = 0
 
 print("Entering main loop")
 while True:
-  x = robot.left_encoder.read()
-  y = robot.right_encoder.read()
+    x = robot.left_encoder.read()
+    y = robot.right_encoder.read()
 
-  x_diff = x - last_x
-  y_diff = y - last_y
+    x_diff = x - last_x
+    y_diff = y - last_y
 
-  last_x = x
-  last_y = y
+    last_x = x
+    last_y = y
 
-  mouse.move(x=x_diff, y=y_diff)
+    mouse.move(x=x_diff, y=y_diff)

ch-6/7-demos/pio_encoder.py

@@ -54,24 +54,24 @@ send:
 
 assembled = adafruit_pioasm.assemble(program)
 
-class QuadratureEncoder:
-  def __init__(self, first_pin, second_pin, reversed=False):
-    """Encoder with 2 pins. Must use sequential pins on the board"""
-    self.sm = rp2pio.StateMachine(
-        assembled,
-        frequency=0,
-        first_in_pin=first_pin,
-        jmp_pin=second_pin,
-        in_pin_count=2
-    )
-    self.reversed = reversed
-    self._buffer = array.array('i', [0])
 
-  def read(self):
-    while self.sm.in_waiting:
-      self.sm.readinto(self._buffer)
-    if self.reversed:
-      return -self._buffer[0]
-    else:
-      return self._buffer[0]
- 
+class QuadratureEncoder:
+    def __init__(self, first_pin, second_pin, reversed=False):
+        """Encoder with 2 pins. Must use sequential pins on the board"""
+        self.sm = rp2pio.StateMachine(
+            assembled,
+            frequency=0,
+            first_in_pin=first_pin,
+            jmp_pin=second_pin,
+            in_pin_count=2,
+        )
+        self.reversed = reversed
+        self._buffer = array.array("i", [0])
+
+    def read(self):
+        while self.sm.in_waiting:
+            self.sm.readinto(self._buffer)
+        if self.reversed:
+            return -self._buffer[0]
+        else:
+            return self._buffer[0]

ch-6/7-demos/robot.py

@@ -13,12 +13,14 @@ left_motor = motor_B1, motor_B2
 right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
 left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
 
+
 def stop():
     motor_A1.duty_cycle = 0
     motor_A2.duty_cycle = 0
     motor_B1.duty_cycle = 0
     motor_B2.duty_cycle = 0
 
+
 def set_speed(motor, speed):
     # Swap motor pins if we reverse the speed
     if speed < 0:
@@ -26,15 +28,16 @@ def set_speed(motor, speed):
         speed = -speed
     else:
         direction = motor
-    speed = min(speed, 1) # limit to 1.0
-    max_speed = 2**16-1
-
+    speed = min(speed, 1)  # limit to 1.0
+    max_speed = 2 ** 16 - 1
 
     direction[0].duty_cycle = int(max_speed * speed)
     direction[1].duty_cycle = 0
 
+
 def set_left(speed):
     set_speed(left_motor, speed)
 
+
 def set_right(speed):
     set_speed(right_motor, speed)