legoEv3/ev3dev2/sensor/__pycache__/lego.cpython-35.pyc
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Touch Sensor
ZTOUCHNFc s/ t t | j | | | d d d g | d S)N driver_namezlego-ev3-touchzlego-nxt-touch)superr __init__)selfaddress name_pattern
name_exactkwargs) __class__ 5/usr/lib/python3/dist-packages/ev3dev2/sensor/lego.pyr 0 s zTouchSensor.__init__c C s | j | j | j d S)za
A boolean indicating whether the current touch sensor is being
pressed.
r ) _ensure_mode
MODE_TOUCHvalue)r
r r r
is_pressed3 s zTouchSensor.is_pressedc C s | j S)N)r )r
r r r is_released< s zTouchSensor.is_releasedc C s} t j } | r" t | d } xT | j | k r8 d S| d k rb t j | | d k rb d S| r% t j | q% Wd S)Ni TF)timefloatr sleep)r
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r r r r r wait_for_pressedS s z TouchSensor.wait_for_pressedc C s | j d | | S)NF)r )r
r r r r r wait_for_releasedV s z TouchSensor.wait_for_releasedc C s\ t j } | j | | rX | d k rH | t t j | d 8} | j | | Sd S)z
Wait for the touch sensor to be pressed down and then released.
Both actions must happen within timeout_ms.
Ni F)r r intr )r
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start_timer r r
wait_for_bumpY s zTouchSensor.wait_for_bump)__name__
__module__ __qualname____doc__r SYSTEM_CLASS_NAME SYSTEM_DEVICE_NAME_CONVENTIONr MODESr propertyr r r r r r! r r )r r r $ s r c s e Z d Z d Z d d d g Z e j Z e j Z d Z d Z d Z
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LEGO EV3 color sensor.
red_max green_maxblue_maxz COL-REFLECTz COL-AMBIENTz COL-COLORzREF-RAWzRGB-RAWr r r NoColorBlackBlueGreenYellowRedWhiteBrownNFc sD t t | j | | | d d | d | _ d | _ d | _ d S)Nr zlego-ev3-colori, )r r* r r+ r, r- )r
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r )r r r r s % zColorSensor.__init__c C s | j | j | j d S)zT
Reflected light intensity as a percentage. Light on sensor is red.
r )r MODE_COL_REFLECTr )r
r r r reflected_light_intensity s z%ColorSensor.reflected_light_intensityc C s | j | j | j d S)zM
Ambient light intensity. Light on sensor is dimly lit blue.
r )r MODE_COL_AMBIENTr )r
r r r ambient_light_intensity s z#ColorSensor.ambient_light_intensityc C s | j | j | j d S)z
Color detected by the sensor, categorized by overall value.
- 0: No color
- 1: Black
- 2: Blue
- 3: Green
- 4: Yellow
- 5: Red
- 6: White
- 7: Brown
r )r MODE_COL_COLORr )r
r r r color s
zColorSensor.colorc C s | j | j S)z3
Returns NoColor, Black, Blue, etc
)COLORSr@ )r
r r r
color_name s zColorSensor.color_namec C s8 | j | j | j d | j d | j d f S)a
Red, green, and blue components of the detected color, officially in the
range 0-1020 but the values returned will never be that high. We do not
yet know why the values returned are low, but pointing the color sensor
at a well lit sheet of white paper will return values in the 250-400 range.
If this is an issue, check out the rgb() and calibrate_white() methods.
r r. r/ )r MODE_RGB_RAWr )r
r r r raw s
zColorSensor.rawc C s | j \ | _ | _ | _ d S)a
The RGB raw values are on a scale of 0-1020 but you never see a value
anywhere close to 1020. This function is designed to be called when
the sensor is placed over a white object in order to figure out what
are the maximum RGB values the robot can expect to see. We will use
these maximum values to scale future raw values to a 0-255 range in
rgb().
If you never call this function red_max, green_max, and blue_max will
use a default value of 300. This default was selected by measuring
the RGB values of a white sheet of paper in a well lit room.
Note that there are several variables that influence the maximum RGB
values detected by the color sensor
- the distance of the color sensor to the white object
- the amount of light in the room
- shadows that the robot casts on the sensor
N)rD r+ r, r- )r
r r r calibrate_white s zColorSensor.calibrate_whitec C sm | j \ } } } t t | d | j d t t | d | j d t t | d | j d f S)zB
Same as raw() but RGB values are scaled to 0-255
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Return colors in Lab color space
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HSV: Hue, Saturation, Value
H: position in the spectrum
S: color saturation ("purity")
V: color brightness
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zColorSensor.hsvc C sF | j \ } } } t | | | } t | | | } | | d } | | k r] d | d f S| d k r~ | | | | } n3 d | | d k r d } n | | d | | } | | | | } | | | | } | | | | }
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HLS: Hue, Luminance, Saturation
H: position in the spectrum
L: color lightness
S: color saturation
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Red component of the detected color, in the range 0-1020.
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Green component of the detected color, in the range 0-1020.
r. )r rC r )r
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Blue component of the detected color, in the range 0-1020.
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COLOR_NOCOLORZ COLOR_BLACKZ
COLOR_BLUEZ COLOR_GREENZ COLOR_YELLOWZ COLOR_REDZ COLOR_WHITEZ COLOR_BROWNr( rA r r) r< r> r@ rB rD rE rK rV rb rd rH rI rJ r r )r r r* h sX
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LEGO EV3 ultrasonic sensor.
z
US-DIST-CMz
US-DIST-INz US-LISTENzUS-SI-CMzUS-SI-INNFc s/ t t | j | | | d d d g | d S)Nr z lego-ev3-usz lego-nxt-us)r rf r )r
r r r
r )r r r r s zUltrasonicSensor.__init__c C s* | j | j | j d | j d S)a!
Measurement of the distance detected by the sensor,
in centimeters.
The sensor will continue to take measurements so
they are available for future reads.
Prefer using the equivalent :meth:`UltrasonicSensor.distance_centimeters` property.
r
US_DIST_CM)r MODE_US_DIST_CMr _scale)r
r r r distance_centimeters_continuous s z0UltrasonicSensor.distance_centimeters_continuousc C s& | j | _ | j d | j d S)a
Measurement of the distance detected by the sensor,
in centimeters.
The sensor will take a single measurement then stop
broadcasting.
If you use this property too frequently (e.g. every
100msec), the sensor will sometimes lock up and writing
to the mode attribute will return an error. A delay of
250msec between each usage seems sufficient to keep the
sensor from locking up.
r rg )
MODE_US_SI_CMmoder ri )r
r r r distance_centimeters_ping s z*UltrasonicSensor.distance_centimeters_pingc C s | j S)z
Measurement of the distance detected by the sensor,
in centimeters.
Equivalent to :meth:`UltrasonicSensor.distance_centimeters_continuous`.
)rj )r
r r r distance_centimeters s z%UltrasonicSensor.distance_centimetersc C s* | j | j | j d | j d S)a
Measurement of the distance detected by the sensor,
in inches.
The sensor will continue to take measurements so
they are available for future reads.
Prefer using the equivalent :meth:`UltrasonicSensor.distance_inches` property.
r
US_DIST_IN)r MODE_US_DIST_INr ri )r
r r r distance_inches_continuous s z+UltrasonicSensor.distance_inches_continuousc C s& | j | _ | j d | j d S)a
Measurement of the distance detected by the sensor,
in inches.
The sensor will take a single measurement then stop
broadcasting.
If you use this property too frequently (e.g. every
100msec), the sensor will sometimes lock up and writing
to the mode attribute will return an error. A delay of
250msec between each usage seems sufficient to keep the
sensor from locking up.
r ro )
MODE_US_SI_INrl r ri )r
r r r distance_inches_ping s z%UltrasonicSensor.distance_inches_pingc C s | j S)z
Measurement of the distance detected by the sensor,
in inches.
Equivalent to :meth:`UltrasonicSensor.distance_inches_continuous`.
)rq )r
r r r distance_inches s z UltrasonicSensor.distance_inchesc C s# | j | j t | j d S)ze
Boolean indicating whether another ultrasonic sensor could
be heard nearby.
r )r MODE_US_LISTENboolr )r
r r r other_sensor_present s z%UltrasonicSensor.other_sensor_present)r" r# r$ r% r r& r' rh rp ru rk rr r( r r) rj rm rn rq rs rt rw r r )r r rf s*
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GyroSensorz
LEGO EV3 gyro sensor.
zGYRO-ANGz GYRO-RATEzGYRO-FASzGYRO-G&AzGYRO-CALz
TILT-ANGLEz TILT-RATENFc s2 t t | j | | | d d | d | _ d S)Nr z
lego-ev3-gyro)r rx r _direct)r
r r r
r )r r r r B s %zGyroSensor.__init__c C s | j | j | j d S)zq
The number of degrees that the sensor has been rotated
since it was put into this mode.
r )r
MODE_GYRO_ANGr )r
r r r angleF s zGyroSensor.anglec C s | j | j | j d S)zN
The rate at which the sensor is rotating, in degrees/second.
r )r MODE_GYRO_RATEr )r
r r r rateO s zGyroSensor.ratec C s, | j | j | j d | j d f S)zH
Angle (degrees) and Rotational Speed (degrees/second).
r r. )r
MODE_GYRO_G_Ar )r
r r r rate_and_angleW s zGyroSensor.rate_and_anglec C s | j | j | j d S)Nr )r
MODE_TILT_ANGr )r
r r r
tilt_angle_ s zGyroSensor.tilt_anglec C s | j | j | j d S)Nr )r MODE_TILT_RATEr )r
r r r tilt_rated s zGyroSensor.tilt_ratec C s/ | j | j | j | j d d | _ d S)NZdirect )r rz Z set_attr_rawry )r
r r r reseti s zGyroSensor.resetc C ss | j | j | j | j f k s- t d | j d } x0 t | | j d | k rn t j d q? Wd S)zC
Wait until angle has changed by specified amount.
zAGyro mode should be MODE_GYRO_ANG, MODE_GYRO_G_A or MODE_TILT_ANGr g{Gz?N) rl r~ rz r AssertionErrorr absr r )r
ZdeltaZ start_angler r r wait_until_angle_changed_bym s "z&GyroSensor.wait_until_angle_changed_by)r" r# r$ r% r r& r' rz r| Z
MODE_GYRO_FASr~ Z
MODE_GYRO_CALr r r( r r) r{ r} r r r r r r r )r r rx s2 rx c sn e Z d Z d Z e j Z e j Z d Z d Z d Z d Z
d Z e e e e
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Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z d Z! d Z" d Z# d Z$ d Z% d Z& d Z' d Z( d Z) d Z* d Z+ d Z, d Z- d Z. d e d f d d Z/ d d Z0 e1 d d Z2 d d d! Z3 d d" d# Z4 d d$ d% Z5 d d& d' Z6 d d( d) Z7 d d* d+ Z8 d d, d- Z9 d d. d/ Z: d d0 d1 Z; d2 d3 Z< S)5InfraredSensorz#
LEGO EV3 infrared sensor.
zIR-PROXzIR-SEEKz IR-REMOTEzIR-REM-AzIR-CALr r. top_leftr/ bottom_leftr top_rightr bottom_rightr0 r1 r2 beaconr NFc s) t t | j | | | d d | d S)Nr z lego-ev3-ir)r r r )r
r r r
r )r r r r s zInfraredSensor.__init__c C sH | d k r | d k s( t d | t d t d | d } | S)Nr. r z'channel is %s, it must be 1, 2, 3, or 4)r rW rG )r
channelr r r _normalize_channel s ( z!InfraredSensor._normalize_channelc C s | j | j | j d S)z
A measurement of the distance between the sensor and the remote,
as a percentage. 100% is approximately 70cm/27in.
r )r MODE_IR_PROXr )r
r r r proximity s zInfraredSensor.proximityc C s0 | j | j | j | } | j | d S)zO
Returns heading (-25, 25) to the beacon on the given channel.
r/ )r MODE_IR_SEEKr r )r
r r r r heading s zInfraredSensor.headingc C sJ | j | j | j | } | j | d d } | d k rF d S| S)z~
Returns distance (0, 100) to the beacon on the given channel.
Returns None when beacon is not found.
r/ r. Ni)r r r r )r
r Z ret_valuer r r distance s zInfraredSensor.distancec C s | j | | j | f S)ze
Returns heading and distance to the beacon on the given channel as a
tuple.
)r r )r
r r r r heading_and_distance s z#InfraredSensor.heading_and_distancec C s d | j | k S)z;
Checks if ``top_left`` button is pressed.
r )buttons_pressed)r
r r r r r s zInfraredSensor.top_leftc C s d | j | k S)z>
Checks if ``bottom_left`` button is pressed.
r )r )r
r r r r r s zInfraredSensor.bottom_leftc C s d | j | k S)z<
Checks if ``top_right`` button is pressed.
r )r )r
r r r r r s zInfraredSensor.top_rightc C s d | j | k S)z?
Checks if ``bottom_right`` button is pressed.
r )r )r
r r r r r % s zInfraredSensor.bottom_rightc C s d | j | k S)z9
Checks if ``beacon`` button is pressed.
r )r )r
r r r r r + s zInfraredSensor.beaconc C s; | j | j | j | } | j j | j | g S)z<
Returns list of currently pressed buttons.
)r MODE_IR_REMOTEr _BUTTON_VALUESgetr )r
r r r r r 1 s z InfraredSensor.buttons_pressedc sn g g } x t d d D] } xR | j | D]A } j | | f | | f | j k r2 | j | | f q2 WxK | j D]@ } | | f k r | | f | j k r | j | | f q Wq W| j } | _ xW | D]O \ } } t | d t | d | } | d k r | | | f k q W| j d k rj| rj| j f d d | D d S)a
Check for currenly pressed buttons. If the new state differs from the
old state, call the appropriate button event handlers.
To use the on_channel1_top_left, etc handlers your program would do something like:
.. code:: python
def top_left_channel_1_action(state):
print("top left on channel 1: %s" % state)
def bottom_right_channel_4_action(state):
print("bottom right on channel 4: %s" % state)
ir = InfraredSensor()
ir.on_channel1_top_left = top_left_channel_1_action
ir.on_channel4_bottom_right = bottom_right_channel_4_action
while True:
ir.process()
time.sleep(0.01)
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MODE_IR_REM_AZ MODE_IR_CALr( r r Z NO_BUTTONZTOP_LEFTZ BOTTOM_LEFTZ TOP_RIGHTZ BOTTOM_RIGHTZTOP_LEFT_TOP_RIGHTZTOP_LEFT_BOTTOM_RIGHTZBOTTOM_LEFT_TOP_RIGHTZBOTTOM_LEFT_BOTTOM_RIGHTZBEACONZTOP_LEFT_BOTTOM_LEFTZTOP_RIGHT_BOTTOM_RIGHTZon_channel1_top_leftZon_channel1_bottom_leftZon_channel1_top_rightZon_channel1_bottom_rightZon_channel1_beaconZon_channel2_top_leftZon_channel2_bottom_leftZon_channel2_top_rightZon_channel2_bottom_rightZon_channel2_beaconZon_channel3_top_leftZon_channel3_bottom_leftZon_channel3_top_rightZon_channel3_bottom_rightZon_channel3_beaconZon_channel4_top_leftZon_channel4_bottom_leftZon_channel4_top_rightZon_channel4_bottom_rightZon_channel4_beaconr r r) r r r r r r r r r r r r r )r r r y s r c s e Z d Z d Z e j Z e j Z d Z d Z e e f Z d e d f d d Z
e d d Z e d
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S) SoundSensorz
LEGO NXT Sound Sensor
DBDBANFc s) t t | j | | | d d | d S)Nr zlego-nxt-sound)r r r )r
r r r
r )r r r r s zSoundSensor.__init__c C s* | j | j | j d | j d S)zr
A measurement of the measured sound pressure level, as a
percent. Uses a flat weighting.
r r )r MODE_DBr ri )r
r r r sound_pressure s zSoundSensor.sound_pressurec C s* | j | j | j d | j d S)z
A measurement of the measured sound pressure level, as a
percent. Uses A-weighting, which focuses on levels up to 55 dB.
r r )r MODE_DBAr ri )r
r r r sound_pressure_low s z SoundSensor.sound_pressure_low)r" r# r$ r% r r& r' r r r( r r) r r r r )r r r o s r c s e Z d Z d Z e j Z e j Z d Z d Z e e f Z d e d f d d Z
e d d Z e d
d Z
S) LightSensorz
LEGO NXT Light Sensor
REFLECTAMBIENTNFc s) t t | j | | | d d | d S)Nr zlego-nxt-light)r r r )r
r r r
r )r r r r s zLightSensor.__init__c C s* | j | j | j d | j d S)zR
A measurement of the reflected light intensity, as a percentage.
r r )r MODE_REFLECTr ri )r
r r r r< s z%LightSensor.reflected_light_intensityc C s* | j | j | j d | j d S)zP
A measurement of the ambient light intensity, as a percentage.
r r )r MODE_AMBIENTr ri )r
r r r r> s z#LightSensor.ambient_light_intensity)r" r# r$ r% r r& r' r r r( r r) r< r> r r )r r r s r )sys version_info SystemErrorr Zev3dev2.buttonr Zev3dev2.sensorr r r* rf rx r r r r r r r <module> s D 0^)