Add diagnostics/ColorSensorDiagnostics.py

diagnostics/ColorSensorDiagnostics.py

@@ -0,0 +1,49 @@
+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())

diagnostics/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 10–20 as baseline (≈0%), 200 as max (≈100%)
+    # Normalize load: map 10 to 20 as baseline (around 0%), 200 as max (around 100%)
     baseline = 15      # midpoint of idle range
     max_observed = 200 # heavy load/stall
     normalized_load = max(0, avg_load - baseline)