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* It's HUB ID * Rename file * Working with official doc * Some progress * AttachedIO msg * device action impl * some better device alert impl * restructuring * Some port commands handled * Some command feedback waiting * Some more request-reply things * Some more request-reply things * Reworked msg classes * Getting back to UTs * Getting back to UTs * Facing sync lock problems * Facing sync lock problems * Testing it * Covering more with tests * handle actions * Hub class is almost covered * done coverage for Hub * done coverage for MoveHub * Button is tested * remove debug server from examples * Current and voltage tested * color sensor basic test * cover tilt sensor * motor sensor tested * constant motor * motor is tested * hold_speed impl for motor * motor commands recorded * some cleanup * some cleanup * some cleanup * debug * debug * FIX a bug * acc/dec profiles figured out * UT motor ops * UT motor ops * Get rid of weird piggyback * fix UT * Fix encoding? * fix test mb * More robust * Checked demo works * cosmetics * cosmetics * Maybe better test * fetching and decoding some device caps * describing devs * describing devs works * Applying modes we've learned * Simple and extensible dev attach * Reworking peripherals based on modes * Applying modes we've learned * implemented getting sensor data * fixed port subscribe * Added led out cmds on vision sensor * Worked on color-distance sensor * Introduce some locking for consistency * Improved it all * Travis flags * improve * improve * improve docs
1.8 KiB
1.8 KiB
Color & Distance Sensor
Sensor has number of different modes to subscribe.
Colors that are detected are part of COLORS map (see 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.
Distance works in range of 0-10 inches, with ability to measure last inch in higher detail.
Simple example of subscribing to sensor:
from pylgbst.hub import MoveHub, VisionSensor
import time
def callback(clr, distance):
print("Color: %s / Distance: %s" % (clr, distance))
hub = MoveHub()
hub.vision_sensor.subscribe(callback, mode=VisionSensor.COLOR_DISTANCE_FLOAT)
time.sleep(60) # play with sensor while it waits
hub.vision_sensor.unsubscribe(callback)
Subscription mode constants in class ColorDistanceSensor are:
COLOR_DISTANCE_FLOAT- default mode, usecallback(color, distance)wheredistanceis float value in inchesCOLOR_ONLY- usecallback(color)DISTANCE_INCHES- usecallback(color)measures distance in integer inches countCOUNT_2INCH- usecallback(count)- it counts crossing distance ~2 inches in front of sensorDISTANCE_HOW_CLOSE- usecallback(value)- value of 0 to 255 for 30 inches, larger with closer distanceDISTANCE_SUBINCH_HOW_CLOSE- usecallback(value)- value of 0 to 255 for 1 inch, larger with closer distanceLUMINOSITY- usecallback(luminosity)whereluminosityis float value from 0 to 1OFF1andOFF2- seems to turn sensor LED and notifications offSTREAM_3_VALUES- usecallback(val1, val2, val3), sends some values correlating to distance, not well understood at the moment