"""
from pybricks.pupdevices import Motor, ColorSensor
from pybricks.parameters import Port
# Initialize devices.
motor = Motor(Port.A)
color_sensor = ColorSensor(Port.B)
SPEED = 500
# Color angle targets
angles = {
"GREEN": 20,
"BLUE": 110,
"RED": 200,
"YELLOW": 290,
"BLACK": 250,
"WHITE": 75,
"NONE": 162,
}
previous_reflection = 0
# Verify that these colors have ascending reflection values.
for name in ("NONE", "BLACK", "RED", "YELLOW"):
motor.run_target(SPEED, angles[name])
reflection = color_sensor.reflection()
assert reflection > previous_reflection, "Expected {0} > {1}".format(
reflection, previous_reflection
)
# Get motor position.
position = (left.angle() + right.angle()) / 2
# Calculate motor speed.
speed = (position - buf[idx]) / (window * DT) * 1000
buf[idx] = position
idx = (idx + 1) % window
# Calculate reference position, which just grows linearly with
# time.
reference = -max(watch.time() - PAUSE, 0) / 1000 * DRIVE_SPEED
# Calculate duty cycle.
diff = position - reference
duty = 0.018 * rate + 19 * angle + 0.45 * diff + 0.16 * speed
# Account for battery level and type.
duty *= 7200 / hub.battery.voltage()
# Calculate steering.
reflection = sensor.reflection()
steering = (reflection - 28) * 0.6
# Apply duty cycle for balancing and steering.
left.dc(duty + steering)
right.dc(duty - steering)
# Wait some time.
wait(DT)
Hardware Module: 1
Description: Verify that ambient() and reflection() refuse an argument.
"""
from pybricks.pupdevices import ColorSensor
from pybricks.parameters import Port
# Initialize device.
color_sensor = ColorSensor(Port.B)
# Get the ambient light intensity to verify that the default works.
ambient_light_default = color_sensor.ambient()
# verify an argument passed to ambient is correctly refused.
expected = "function doesn't take keyword arguments"
try:
ambient_light_surface_true = color_sensor.ambient(surface=True)
except Exception as e:
assert str(e) == expected, "Expected '{0}' == '{1}'".format(e, expected)
# Get the reflected light intensity to verify that the default works.
reflection_default = color_sensor.reflection()
# verify an argument passed to reflection is correctly refused.
expected = "function doesn't take keyword arguments"
try:
reflection_surface_true = color_sensor.reflection(surface=True)
except Exception as e:
assert str(e) == expected, "Expected '{0}' == '{1}'".format(e, expected)
