def get_learn_data(self):
"""
返回学习后的，红外编码数据。该函数须在 ``learn`` 函数后使用。
:return: 返回编码后的红外脉冲数据buff
"""
i2c.writeto(16, b'\x07')
return i2c.readfrom(16, 118)
def get_hsv(self):
"""
获取hsv值，通过反射方式获取物体颜色时，须开启亮暗平衡调整功能。
:return: tuple hsv颜色值元组(h,s,v)
"""
i2c.writeto(17, b'\x05', False)
hsv = ustruct.unpack('Iff', i2c.readfrom(17, 12))
return hsv
def get_rgb(self):
"""
获取RGB值，通过反射方式获取物体颜色时，须开启亮暗平衡调整功能。
:return: tuple RGB颜色值元组(r,g,b)
"""
i2c.writeto(17, b'\x04', False)
rgb = ustruct.unpack('BBB', i2c.readfrom(17, 3))
return rgb
def get_raw(self):
"""
获取裸数据
:return: tuple 裸数据元组(r,g,b,c)
"""
i2c.writeto(17, b'\x03', False)
raw = ustruct.unpack('HHHH', i2c.readfrom(17, 8))
return raw
def get_battery_level():
"""
获取拓展板的电压值。
:return: 返回电量，单位mV。
"""
i2c.writeto(16, b'\x03')
tmp = i2c.readfrom(16, 2)
return struct.unpack('H', tmp)[0]
def humidity(self):
"""
获取湿度
:return: 湿度,单位%
"""
self.i2c.writeto(0x40, b'\xf5')
sleep_ms(25)
t = i2c.readfrom(0x40, 2)
return -6 + 125 * (t[0] * 256 + t[1]) / 65535
def temperature(self):
"""
获取温度
:return: 温度,单位摄氏度
"""
self.i2c.writeto(0x40, b'\xf3')
sleep_ms(70)
t = i2c.readfrom(0x40, 2)
return -46.86 + 175.72 * (t[0] * 256 + t[1]) / 65535
def get_lux(self):
"""
获取亮度值
:return: int 亮度值，单位lux
"""
self.set_led(False)
i2c.writeto(17, b'\x08', False)
lux = ustruct.unpack('H', i2c.readfrom(17, 2))[0]
return lux
def get_temp(self):
"""
获取色温值
:return: int 色温值
"""
self.set_led(False)
i2c.writeto(17, b'\x06', False)
color_temp = ustruct.unpack('H', i2c.readfrom(17, 2))[0]
return color_temp
def get_sensor_val(self):
"""
获取防跌落传感器AD采样值
:return: tuple 四个防跌落传感器AD采样值
"""
if self.drop_detct_ir_on == False:
self.drop_detct_ir_on = True
i2c.writeto(17, b'\x8E') #打开防跌红外发射管
i2c.writeto(17, b'\x01', False) #发出读ADC数据指令
tmp = ustruct.unpack('HHHHHHHH', i2c.readfrom(17, 16))
drop_detect_data = tmp[4:8]
return drop_detect_data
def get_val(self):
"""
获取循迹AD采样值
:return: 四个循迹传感器AD采样值
"""
if not self.tracking_led_on:
self.tracking_led_on = True
self.set_led(1)
i2c.writeto(17, b'\x01', False) # 获取AD值
tmp = ustruct.unpack('HHHHHHHH', i2c.readfrom(17, 16))
tracking_data = tmp[0:4]
return tracking_data
def get_params(self):
"""
获取机器人所有配置参数
:return: 示例：(85, 0.002, 0.005, 1.0, 1.0, 1.0, 8, 11, 10, 30, 254, 3411, 3157, 259, 3444, 3185, 254, 3498, 3244, 252, 3305, 3053, 2000, 2000, 2000, 2000)
| 85: 标记
| 0.002: 行走补偿
| 0.005: 旋转补偿
| 1.0, 1.0, 1.0: 亮平衡RGB比例值
| 8, 11, 10, 30: 暗平衡rgbc值
| 254, 3411, 3157, 259: 循迹传感器1白平衡亮、值、差值 有4组
"""
i2c.writeto(17, b'\x71', False)
sys_params = ustruct.unpack('I5f20H', i2c.readfrom(17, 56))
return sys_params
def get_battery_level():
i2c.writeto(16, b'\x03')
tmp = i2c.readfrom(16, 2)
return struct.unpack('H', tmp)[0]
def get_learn_status(self):
i2c.writeto(16, b'\x08')
return i2c.readfrom(16, 1)[0]
def get_learn_data(self):
i2c.writeto(16, b'\x07')
return i2c.readfrom(16, 118)
