Merge pull request 'dev' (#10) from dev into main

Reviewed-on: #10

diagnostics/ColorSensorDiagnostics.py

@@ -1,49 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
-from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
-from pybricks.robotics import DriveBase
-from pybricks.tools import wait, StopWatch
-
-hub = PrimeHub()
-class ColorSensorDiagnostics:
-    def __init__(self):
-        self.colorsensor = None
-        self.port_map = {
-            "A": Port.A,
-            "B": Port.B,
-            "C": Port.C,
-            "D": Port.D,
-            "E": Port.E,
-            "F": Port.F,
-        }
-    def initializeColorSensor(self):
-        valid_ports = {"A", "B", "C", "D", "E", "F"}
-        while True:
-            colorinput = input(
-            "This will test your color sensor.\n"
-            "Enter the port for the color sensor you would like to test (A, B, C, D, E, or F): "
-            ).strip().upper()
-            if colorinput not in valid_ports:
-                print("Invalid port. Please enter A-F.")
-                continue
-            try:
-                if self.colorsensor is None:
-                    self.colorsensor = ColorSensor(self.port_map[colorinput])
-                    print(f"Color Sensor initialized on port {colorinput}.")
-                else:
-                    print(f"Reusing existing color sensor on port {colorinput}.")
-                break
-
-            except OSError as e:
-                if e.errno == 16:  # EBUSY
-                    print(f"Port {colorinput} is already in use. Reusing existing color sensor.")
-                    break
-                else:
-                    print(f"Error initializing color sensor on port {colorinput}: {e}")
-                    print("Make sure a color sensor is actually connected to this port.")
-                    self.colorsensor = None
-        self.colorsensor.detectable_colors(Color.RED, Color.YELLOW, Color.GREEN, Color.BLUE, Color.WHITE, Color.NONE)
-    def printOutput(self):
-        while True:
-            print("HSV output:", self.colorsensor.hsv)
-            print("Detected color:", self.colorsensor.color())

utils/MotorDiagnostics.py

@@ -41,7 +41,7 @@ class MotorDiagnostics:
     # Stability: penalize deviation relative to desired
     stability = max(0, 100 - (stdev_speed / desired) * 100)
 
-    # Normalize load: map 10 to 20 as baseline (around 0%), 200 as max (around 100%)
+    # Normalize load: map 10–20 as baseline (≈0%), 200 as max (≈100%)
     baseline = 15      # midpoint of idle range
     max_observed = 200 # heavy load/stall
     normalized_load = max(0, avg_load - baseline)