"GREEN": 20,
"BLUE": 110,
"RED": 200,
"YELLOW": 290,
"BLACK": 250,
"WHITE": 75,
"NONE": 162,
}
# Verify saturated colors without calibration.
for name in ("GREEN", "BLUE", "RED", "YELLOW"):
motor.run_target(SPEED, angles[name])
detected = color_sensor.color()
assert detected == Color[name], "Expected {0} but got {1}".format(
Color[name], detected)
# Update all colors.
for name in angles.keys():
motor.run_target(SPEED, angles[name])
Color[name] = color_sensor.hsv()
# Set new colors as detectable colors.
color_sensor.detectable_colors([Color[key] for key in angles.keys()])
# Test all newly calibrated colors.
for name in angles.keys():
motor.run_target(SPEED, angles[name])
detected = color_sensor.color()
assert detected == Color[name], "Expected {0} but got {1}".format(
Color[name], detected)
from pybricks.pupdevices import ColorSensor
from pybricks.parameters import Port
from pybricks.tools import wait
# Initialize the sensor.
sensor = ColorSensor(Port.A)
# Repeat forever.
while True:
# Get the ambient color values. Instead of scanning the color of a surface,
# this lets you scan the color of light sources like lamps or screens.
hsv = sensor.hsv(surface=False)
color = sensor.color(surface=False)
# Get the ambient light intensity.
ambient = sensor.ambient()
# Print the measurements.
print(hsv, color, ambient)
# Point the sensor at a computer screen or colored light. Watch the color.
# Also, cover the sensor with your hands and watch the ambient value.
# Wait so we can read the printed line
wait(100)
from pybricks.pupdevices import ColorSensor
from pybricks.parameters import Port
from pybricks.tools import wait
# Initialize the sensor.
sensor = ColorSensor(Port.A)
while True:
# The standard color() method always "rounds" the
# measurement to the nearest "whole" color.
# That's useful for most applications.
# But you can get the original hue, saturation,
# and value without "rounding", as follows:
color = sensor.hsv()
# Print the results.
print(color)
# Wait so we can read the value.
wait(500)
from pybricks.pupdevices import ColorSensor
from pybricks.parameters import Port
from pybricks.tools import wait
# Initialize the sensor.
sensor = ColorSensor(Port.A)
# Show the default color map.
print(sensor.color_map())
while True:
# Read the HSV values.
h, s, v = sensor.hsv()
# Read the corresponding color based on the existing settings.
color = sensor.color()
# Print the measured values.
print("Hue:", h, "Sat:", s, "Val:", v, "Col:", color)
# Wait so we can read the value.
wait(100)
"""
Hardware Module: 1
Description: Verify color sensor arguments,
by asserting that the same color is reported by:
- using the default argument, e.g. surface=True
- and using NO argument.
"""
from pybricks.pupdevices import ColorSensor
from pybricks.parameters import Port
# Initialize device.
color_sensor = ColorSensor(Port.B)
# Verify that the default and NO-argument calls report the same color.
# Assume that the lighting will not change a lot during measuring.
hsv_default = color_sensor.hsv()
hsv_surface_true = color_sensor.hsv(surface=True) # the default is surface=True.
# do not use surface=False in this test, that causes a mode switch and that would need more time.
assert hsv_default == hsv_surface_true, "Expected default '{0}' == '{1}'".format(
hsv_default, hsv_surface_true
)
color_default = color_sensor.color()
color_surface_true = color_sensor.color(surface=True) # the default is surface=True.
assert color_default == color_surface_true, "Expected default '{0}' == '{1}'".format(
color_default, color_surface_true
)
class ExplorationRover():
"""Control the Mars Exploration Rover."""
# In this robot, we want to detect red and cyan/teal "mars rocks".
ROCK_COLORS = (Color.RED, Color.CYAN)
# These are the gears between the motor and the rear wheels.
REAR_GEARS = (8, 24, 12, 20)
# An animation of heart icons of varying brightness, giving a heart beat.
HEART_BEAT = [
Icon.HEART * i / 100
for i in list(range(0, 100, 4)) + list(range(100, 0, -4))
]
def __init__(self):
# Initialize each motor with the correct direction and gearing.
self.left_rear_wheels = Motor(Port.E, Direction.CLOCKWISE,
self.REAR_GEARS)
self.right_rear_wheels = Motor(Port.F, Direction.COUNTERCLOCKWISE,
self.REAR_GEARS)
self.left_front_wheel = Motor(Port.C, Direction.COUNTERCLOCKWISE, None)
self.right_front_wheel = Motor(Port.D, Direction.CLOCKWISE, None)
# Initialize sensors, named after the Perseverance Mars Rover instruments.
self.mast_cam = UltrasonicSensor(Port.B)
self.sherloc = ColorSensor(Port.A)
# Initialize the hub and start the animation
self.hub = InventorHub()
self.hub.display.animate(self.HEART_BEAT, 30)
def calibrate(self):
# First, measure the color of the floor. This makes it easy to explicitly
# ignore the floor later. This is useful if your floor has a wood color,
# which can appear red or yellow to the sensor.
self.floor_color = self.sherloc.hsv()
# Set up all the colors we want to distinguish, including no color at all.
self.sherloc.detectable_colors(self.ROCK_COLORS +
(self.floor_color, None))
def drive(self, speed, steering, time=None):
# Drive the robot at a given speed and steering for a given amount of time.
# Speed and steering is expressed as degrees per second of the wheels.
self.left_rear_wheels.run(speed + steering)
self.left_front_wheel.run(speed + steering)
self.right_rear_wheels.run(speed - steering)
self.right_front_wheel.run(speed - steering)
# If the user specified a time, wait for this duration and then stop.
if time is not None:
wait(time)
self.stop()
def stop(self):
# Stops all the wheels.
self.left_rear_wheels.stop()
self.left_front_wheel.stop()
self.right_rear_wheels.stop()
self.right_front_wheel.stop()
def scan_rock(self, time):
# Stops the robot and moves the scan arm.
self.stop()
self.left_front_wheel.run(100)
# During the given duration, scan for rocks.
watch = StopWatch()
while watch.time() < time:
# If a rock color is detected, display it and make a sound.
if self.sherloc.color() in self.ROCK_COLORS:
self.hub.display.image(Icon.CIRCLE)
self.hub.speaker.beep()
else:
self.hub.display.off()
wait(10)
# Turn the arm motor and restore the heartbeat animation again.
self.hub.display.animate(self.HEART_BEAT, 30)
self.left_front_wheel.stop()
