ui.ui_calibration module

Reflectance sensor calibration screen for the Romi robot UI.

Guides the user through a two-phase calibration that establishes white and black reference levels for the IR reflectance array:

Phase 1 – Light surface: robot placed on a white background. Phase 2 – Dark surface: robot placed on the black line.

Communication with the reflectance sensor task uses a shared mode variable:

• 2 → trigger light-surface calibration

• 1 → trigger dark-surface calibration

• 0 ← sensor acknowledges completion (written back by sensor task)

All blocking waits are cooperative (yield 0) so the scheduler remains responsive throughout.

ui.ui_calibration.run(ui)

Generator that runs the two-phase reflectance sensor calibration workflow.

First asks the user to confirm (y/n). On confirmation it walks through light then dark calibration, signalling the sensor task via ui._reflectanceMode and waiting (with yield 0) for each phase to complete before proceeding.

Args:

ui: UI context object exposing _ser (serial port) and

_reflectanceMode (shared variable used to command and synchronise with the reflectance sensor task).

Yields:

int: 0 on every poll and acknowledgement-wait iteration.