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37 lines
1.8 KiB
Markdown
37 lines
1.8 KiB
Markdown
### Color & Distance Sensor
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Sensor has number of different modes to subscribe.
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Colors that are detected are part of `COLORS` map (see [LED](#led) section). Only several colors are possible to detect: `BLACK`, `BLUE`, `CYAN`, `YELLOW`, `RED`, `WHITE`. Sensor does its best to detect best color, but only works when sample is very close to sensor.
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Distance works in range of 0-10 inches, with ability to measure last inch in higher detail.
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Simple example of subscribing to sensor:
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```python
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from pylgbst.hub import MoveHub, VisionSensor
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import time
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def callback(clr, distance):
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print("Color: %s / Distance: %s" % (clr, distance))
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hub = MoveHub()
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hub.vision_sensor.subscribe(callback, mode=VisionSensor.COLOR_DISTANCE_FLOAT)
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time.sleep(60) # play with sensor while it waits
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hub.vision_sensor.unsubscribe(callback)
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```
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Subscription mode constants in class `ColorDistanceSensor` are:
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- `COLOR_DISTANCE_FLOAT` - default mode, use `callback(color, distance)` where `distance` is float value in inches
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- `COLOR_ONLY` - use `callback(color)`
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- `DISTANCE_INCHES` - use `callback(color)` measures distance in integer inches count
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- `COUNT_2INCH` - use `callback(count)` - it counts crossing distance ~2 inches in front of sensor
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- `DISTANCE_HOW_CLOSE` - use `callback(value)` - value of 0 to 255 for 30 inches, larger with closer distance
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- `DISTANCE_SUBINCH_HOW_CLOSE` - use `callback(value)` - value of 0 to 255 for 1 inch, larger with closer distance
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- `LUMINOSITY` - use `callback(luminosity)` where `luminosity` is float value from 0 to 1
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- `OFF1` and `OFF2` - seems to turn sensor LED and notifications off
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- `STREAM_3_VALUES` - use `callback(val1, val2, val3)`, sends some values correlating to distance, not well understood at the moment
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