<commit_before>"""Logic for following lines using Mecanum wheels."""

import sys
from time import time, sleep

import numpy as np

import bot.lib.lib as lib
import pid ad pid_mod


class MecFollower(object):
    """Subclass of Follower for line-following using mecanum wheels."""

    def __init__(self):
        # Build logging
        self.logger = lib.get_logger()

        # Build subsystems
        self.ir_hub = ir_hub_mod.IRHub()
        self.ir_hub.thrsh = 100

        # Build PID class
        self.front_right = pid_mod.PID()
        self.front_left = pid_mod.PID()
        self.back_right = pid_mod.PID()
        self.back_left = pid_mod.PID()<commit_msg>add pid for front and back<commit_after>"""Logic for following lines using Mecanum wheels."""

import sys
from time import time, sleep

import numpy as np

import bot.lib.lib as lib
import pid ad pid_mod


class MecFollower(object):
    """Subclass of Follower for line-following using mecanum wheels."""

    def __init__(self):
        # Build logging
        self.logger = lib.get_logger()

        # Build subsystems
        self.ir_hub = ir_hub_mod.IRHub()
        self.ir_hub.thrsh = 100

        # Build PID class
        self.front_PID = pid_mod.PID()
        self.back_PID = pid_mod.PID()
		
		
		
	
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