Skip to content

Latest commit

 

History

History
36 lines (26 loc) · 1.77 KB

VisionSensor.md

File metadata and controls

36 lines (26 loc) · 1.77 KB
Raw

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, use callback(color, distance) where distance is float value in inches
  • COLOR_ONLY - use callback(color)
  • DISTANCE_INCHES - use callback(color) measures distance in integer inches count
  • COUNT_2INCH - use callback(count) - it counts crossing distance ~2 inches in front of sensor
  • DISTANCE_HOW_CLOSE - use callback(value) - value of 0 to 255 for 30 inches, larger with closer distance
  • DISTANCE_SUBINCH_HOW_CLOSE - use callback(value) - value of 0 to 255 for 1 inch, larger with closer distance
  • LUMINOSITY - use callback(luminosity) where luminosity is float value from 0 to 1
  • OFF1 and OFF2 - seems to turn sensor LED and notifications off
  • STREAM_3_VALUES - use callback(val1, val2, val3), sends some values correlating to distance, not well understood at the moment