self driving for line following
while(True):
a, shift = get_vector()
if a is None:
# there is some code to recover the line if lost
break
turn_state, shift_state = check_shift_turn(a, shift)
turn_dir, turn_val = get_turn(turn_state, shift_state)
if turn_dir != 0:
turn(turn_dir, turn_val)
last_turn = turn_dir
else:
time.sleep(tconf.straight_run)
last_turn = 0
last_angle = a