Ch-8 cleanup

ch-8/3-avoid/avoid_walls.py

@@ -21,12 +21,20 @@ try:
             right_dist = robot.right_distance.distance
             # are any too close
             if right_dist < too_close_cm:
-        print("Obstacle detected - Left: {} cm, Right: {} cm".format(left_dist, right_dist))
+                print(
+                    "Obstacle detected - Left: {} cm, Right: {} cm".format(
+                        left_dist, right_dist
+                    )
+                )
                 robot.set_left(-speed)
             else:
                 robot.set_left(speed)
                 if left_dist < too_close_cm:
-          print("Obstacle detected - Left: {} cm, Right: {} cm".format(left_dist, right_dist))
+                    print(
+                        "Obstacle detected - Left: {} cm, Right: {} cm".format(
+                            left_dist, right_dist
+                        )
+                    )
                     robot.set_right(-speed)
                 else:
                     robot.set_right(speed)

ch-8/3-avoid/pio_encoder.py

@@ -54,6 +54,7 @@ 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"""
@@ -62,10 +63,10 @@ class QuadratureEncoder:
             frequency=0,
             first_in_pin=first_pin,
             jmp_pin=second_pin,
-        in_pin_count=2
+            in_pin_count=2,
         )
         self.reversed = reversed
-    self._buffer = array.array('i', [0])
+        self._buffer = array.array("i", [0])
 
     def read(self):
         while self.sm.in_waiting:
@@ -74,4 +75,3 @@ class QuadratureEncoder:
             return -self._buffer[0]
         else:
             return self._buffer[0]
- 

ch-8/3-avoid/robot.py

@@ -29,6 +29,7 @@ def stop():
     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:
@@ -37,14 +38,15 @@ def set_speed(motor, speed):
     else:
         direction = motor
     speed = min(speed, 1)  # limit to 1.0
-    max_speed = 2**16-1
+    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)

ch-8/3-avoid/varying_wall_avoid.py

@@ -1,4 +1,3 @@
-
 import robot
 import time
 
@@ -9,10 +8,12 @@ robot.right_distance.start_ranging()
 
 speed = 0.9
 
+
 def speed_from_distance(distance):
     limited_distance = min(distance, 30) * speed
     return limited_distance / 30
 
+
 try:
     robot.set_left(speed)
     robot.set_right(speed)
@@ -24,7 +25,11 @@ try:
             right_dist = robot.right_distance.distance
             l_speed = speed_from_distance(robot.right_distance.distance)
             r_speed = speed_from_distance(robot.left_distance.distance)
-      print("Left: {} cm R Sp: {}, Right: {} cm L Sp: {}".format(left_dist, r_speed, right_dist, l_speed))
+            print(
+                "Left: {} cm R Sp: {}, Right: {} cm L Sp: {}".format(
+                    left_dist, r_speed, right_dist, l_speed
+                )
+            )
             robot.set_left(l_speed)
             robot.set_right(r_speed)