2to3 python

Author: Nathan Lam

auxiliary.py

@@ -19,7 +19,7 @@ class AuxiliaryHelp(object):
     # Initialize the object
     def __init__(self):
         if ( len(self._instances)>1 ):
-            print "ERROR: One instance of AuxiliaryHelp is running already."
+            print("ERROR: One instance of AuxiliaryHelp is running already.")
             exit(1)
         self._instances.append(self)
 
@@ -32,13 +32,13 @@ def cleanup (self):
 #-------------------------------------------------------------------------------
     #write a value to a log file
     def writetofile (self,label,value):
-    		logfile = 'logfile.txt'
-    		mystring = label+': '+str(value)+'\n'
-				try:
-				    f=open(logfile, 'a')
-				    f.write(mystring)
-				    print 'Wrote the following to '+logfile+':\n'+label+': '+str(value)+'\n'
-				    f.close()
-				except IOError:
-				    print("cannot find file: " + logfile)
-				    exit()
+        logfile = 'logfile.txt'
+        mystring = label+': '+str(value)+'\n'
+        try:
+            f=open(logfile, 'a')
+            f.write(mystring)
+            print('Wrote the following to '+logfile+':\n'+label+': '+str(value)+'\n')
+            f.close()
+        except IOError:
+            print("cannot find file: " + logfile)
+            exit()

main.py

@@ -3,23 +3,10 @@
 import motorcontrol, servocontrol, sonarcontrol, auxiliary
 import time
 
-#instantiate objects
-motor = motorcontrol.MotorControl()
-servo = servocontrol.ServoControl()
-sonar = sonarcontrol.SonarControl()
-aux = auxiliary.AuxiliaryHelp()
-
-#center servos
-servo.pancenter()
-servo.tiltcenter()
-
-#start logging data
-aux.writetofile('Servos are dead center', 0)
-
 #-------------------------------------------------------------------------------
 # Setting direction (finding the longest way without obstacles
 
-def findWay(self):
+def findWay():
     distanceArray = []
 
     #pan left
@@ -55,7 +42,7 @@ def findWay(self):
     del distanceArray[:]
 
 #------------------------------------------------------------------------------- 
-def move(self):
+def move():
     while sonar.distance()>=10:
         motor.forward()
         print("moving forward")
@@ -69,6 +56,19 @@ def move(self):
     print("resetting position")
 #-------------------------------------------------------------------------------
 
+#instantiate objects
+motor = motorcontrol.MotorControl()
+servo = servocontrol.ServoControl()
+sonar = sonarcontrol.SonarControl()
+aux = auxiliary.AuxiliaryHelp()
+
+#center servos
+servo.pancenter()
+servo.tiltcenter()
+
+#start logging data
+aux.writetofile('Servos are dead center', 0)
+
 try:
     while True: 
         findWay()

sonarcontrol.py

@@ -32,7 +32,7 @@ class SonarControl(object):
     # Initialize the object
     def __init__(self):
         if ( len(self._instances)>1 ):
-            print "ERROR: One instance of SonarControl is running already."
+            print("ERROR: One instance of SonarControl is running already.")
             exit(1)
         self._instances.append(self)