From 5fa2bb7fca710962283e6790d5a1c2022336aedd Mon Sep 17 00:00:00 2001
From: Trivernis <trivernis@hotmail.de>
Date: Mon, 3 Dec 2018 16:50:28 +0100
Subject: [PATCH] Post-Merge Cleanup

---
 lib/controllib.py         | 2 +-
 lib/graphiclib.py         | 5 +++--
 lib/gyro.py               | 2 +-
 lib/hardwarelib.py        | 4 ++--
 lib/ultrasonic.py         | 6 ++++--
 testscripts/motor_test.py | 4 ++--
 6 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/lib/controllib.py b/lib/controllib.py
index cc88d4d..650f663 100644
--- a/lib/controllib.py
+++ b/lib/controllib.py
@@ -2,7 +2,7 @@ import os
 import pygame
 
 
-class Joystick():
+class Joystick:
     def __init__(self, navigator, light, configuration, camera):
         # joystick
         pygame.joystick.init()
diff --git a/lib/graphiclib.py b/lib/graphiclib.py
index 5a2bf80..228324a 100644
--- a/lib/graphiclib.py
+++ b/lib/graphiclib.py
@@ -1,6 +1,7 @@
-import pygame, pygame.camera
 import picamera
 import picamera.array
+import pygame
+import pygame.camera
 from pygame import *
 
 
@@ -13,6 +14,7 @@ class Screen:
     """The Screen for the Terminal"""
 
     def __init__(self, size=(100, 100), title="Screen"):
+        self.fullscreen = True
         pygame.display.init()
         self.size = size
         self.screen = pygame.display.set_mode(self.size)
@@ -29,7 +31,6 @@ class Screen:
             displayinfo = pygame.display.Info()
             fullsize = (displayinfo.current_w, displayinfo.current_h)
             pygame.display.set_mode(fullsize, FULLSCREEN | DOUBLEBUF)
-            self.fullscreen = True
 
 
 class List(pygame.sprite.Sprite):
diff --git a/lib/gyro.py b/lib/gyro.py
index 460b6aa..779731e 100644
--- a/lib/gyro.py
+++ b/lib/gyro.py
@@ -24,7 +24,7 @@ def read_word(reg):
 
 def read_word_2c(reg):
     val = read_word(reg)
-    if (val >= 0x8000):
+    if val >= 0x8000:
         return -((65535 - val) + 1)
     else:
         return val
diff --git a/lib/hardwarelib.py b/lib/hardwarelib.py
index f836b20..5a20ca8 100644
--- a/lib/hardwarelib.py
+++ b/lib/hardwarelib.py
@@ -4,7 +4,7 @@ import RPi.GPIO as GPIO
 import time
 
 
-class Navigator():
+class Navigator:
     """Forward Motor with relais, Steering with servo"""
 
     def __init__(self, mrelaispin):
@@ -66,7 +66,7 @@ class Ultrasonic:
         self.distance = 0
 
     def get_distance(self):
-        if (time.time()-self.time)>1:
+        if (time.time() - self.time) > 1:
             self.distance = self.sensor.echo()
             self.time = time.time()
         return self.distance
diff --git a/lib/ultrasonic.py b/lib/ultrasonic.py
index c8836dc..d648352 100644
--- a/lib/ultrasonic.py
+++ b/lib/ultrasonic.py
@@ -5,10 +5,13 @@ GPIO.setmode(GPIO.BOARD)
 
 
 class Sensor(object):
-    def init(self, TRIG, ECHO):
+    def __init__(self):
         self.TRIGGER = TRIG
         self.ECHO = ECHO
         self.lastValues = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
+        self.lastValues = self.lastValues[1:]
+
+    def init(self, TRIG, ECHO):
         GPIO.setup(self.TRIGGER, GPIO.OUT)
         GPIO.setup(self.ECHO, GPIO.IN)
         GPIO.output(self.TRIGGER, False)
@@ -36,7 +39,6 @@ class Sensor(object):
         distance = pulse_duration * 17150
         distance = round(distance, 2)
         self.lastValues.append(distance)
-        self.lastValues = self.lastValues[1:]
         distance = round((sum(self.lastValues)) / (len(self.lastValues)), 2)
         # print(self.lastValues)
         # print("Distance: {}".format(distance))
diff --git a/testscripts/motor_test.py b/testscripts/motor_test.py
index 1e10205..e3d7fd3 100644
--- a/testscripts/motor_test.py
+++ b/testscripts/motor_test.py
@@ -129,10 +129,10 @@ if __name__ == '__main__':
     while True:
         try:
             start = time.time()
-            while (time.time() < start + 10):
+            while time.time() < start + 10:
                 forward(pins)
             start = time.time()
-            while (time.time() < start + 10):
+            while time.time() < start + 10:
                 backward(pins)
         except KeyboardInterrupt:
             break