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24 lines
1.5 KiB
Markdown
24 lines
1.5 KiB
Markdown
# Peripheral Types
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Here is the list of peripheral devices that have dedicated classes in library:
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- [Motors](Motor.md)
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- [RGB LED](LED.md)
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- [Tilt Sensor](TiltSensor.md)
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- [Vision Sensor](VisionSensor.md) (color and/or distance)
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- [Voltage and Current Sensors](VoltageCurrent.md)
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In case device you attached to Hub is of an unknown type, it will get generic `Peripheral` class, allowing direct low-level interactions.
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## Subscribing to Sensors
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Each sensor usually has several different "subscription modes", differing with callback parameters and value semantics.
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There is optional `granularity` parameter for each subscription call, by default it is `1`. This parameter tells Hub when to issue sensor data notification. Value of notification has to change greater or equals to `granularity` to issue notification. This means that specifying `0` will cause it to constantly send notifications, and specifying `5` will cause less frequent notifications, only when values change for more than `5` (inclusive).
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It is possible to subscribe with multiple times for the same sensor. Only one, very last subscribe mode is in effect, with many subscriber callbacks allowed to receive notifications.
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Good practice for any program is to unsubscribe from all sensor subscriptions before exiting, especially when used with `DebugServer`.
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## Generic Perihpheral
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In case you have used a peripheral that is not recognized by the library, it will be detected as generic `Peripheral` class. You still can use subscription and sensor info getting commands for it. |