Problems Encountered

• Problem (possible outdated): IR sensor properly connected, occasionally reading the correct value, mostly (or sometimes) reading -1000.

Solution: For some reason the arduino was returning values slowly, so arduino.py was timing it out. Change timeout=1 in arduino.py to timeout=2. (Do it in a local copy or it'll be problematic if staff updates arduino.py. If it continues to be a problem, change the staff version of arduino.py).

• Problem: Peg bot not driving straight

Solution: Used closed loop control.

• Problem: IR sensor reading None value (when using the staff version)

Solution: Call up [and store] the value in a variable outside of the general loop, then when you access it inside of the loop it will return the desired integer value.