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# nxt.sensor.generic module -- Classes to read LEGO Mindstorms NXT sensors
# Copyright (C) 2006,2007 Douglas P Lau
# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
# Copyright (C) 2010 melducky, Marcus Wanner
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
from .common import *
from .digital import BaseDigitalSensor
from .analog import BaseAnalogSensor
class Touch(BaseAnalogSensor):
"""The LEGO touch sensor"""
def __init__(self, brick, port):
super(Touch, self).__init__(brick, port)
self.set_input_mode(Type.SWITCH, Mode.BOOLEAN)
def is_pressed(self):
return bool(self.get_input_values().scaled_value)
get_sample = is_pressed
class Light(BaseAnalogSensor):
"""Object for light sensors. It automatically turns off light when it's not
used.
"""
def __init__(self, brick, port, illuminated=True):
super(Light, self).__init__(brick, port)
def set_illuminated(self, active):
if active:
type_ = Type.LIGHT_ACTIVE
else:
type_ = Type.LIGHT_INACTIVE
self.set_input_mode(type_, Mode.RAW)
def get_lightness(self):
return self.get_input_values().scaled_value
get_sample = get_lightness
class Sound(BaseAnalogSensor):
'Object for sound sensors'
def __init__(self, brick, port, adjusted=True):
super(Sound, self).__init__(brick, port)
self.set_adjusted(adjusted)
def set_adjusted(self, active):
if active:
type_ = Type.SOUND_DBA
else:
type_ = Type.SOUND_DB
self.set_input_mode(type_, Mode.RAW)
def get_loudness(self):
return self.get_input_values().scaled_value
get_sample = get_loudness
class Ultrasonic(BaseDigitalSensor):
"""Object for ultrasonic sensors"""
I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
I2C_ADDRESS.update({'measurement_units': (0x14, '7s'),
'continuous_measurement_interval': (0x40, 'B'),
'command': (0x41, 'B'),
'measurement_byte_0': (0x42, 'B'),
'measurements': (0x42, '8B'),
'actual_scale_factor': (0x51, 'B'),
'actual_scale_divisor': (0x52, 'B'),
})
class Commands:
'These are for passing to command()'
OFF = 0x00
SINGLE_SHOT = 0x01
CONTINUOUS_MEASUREMENT = 0x02
EVENT_CAPTURE = 0x03 #Optimize results when other Ultrasonic sensors running
REQUEST_WARM_RESET = 0x04
def __init__(self, brick, port, check_compatible=True):
super(Ultrasonic, self).__init__(brick, port, check_compatible)
self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW)
def get_distance(self):
'Function to get data from the ultrasonic sensor'
return self.read_value('measurement_byte_0')[0]
get_sample = get_distance
def get_measurement_units(self):
return self.read_value('measurement_units')[0].split('\0')[0]
def get_all_measurements(self):
"Returns all the past readings in measurement_byte_0 through 7"
return self.read_value('measurements')
def get_measurement_no(self, number):
"Returns measurement_byte_number"
if not 0 <= number < 8:
raise ValueError('Measurements are numbered 0 to 7, not ' + str(number))
base_address, format = self.I2C_ADDRESS['measurement_byte_0']
return self._i2c_query(base_address + number, format)[0]
def command(self, command):
self.write_value('command', (command, ))
def get_interval(self):
'Get the sample interval for continuous measurement mode -- Unknown units'
return self.read_value('continuous_measurement_interval')
def set_interval(self, interval):
"""Set the sample interval for continuous measurement mode.
Unknown units; default is 1"""
self.write_value('continuous_measurement_interval', interval)
Ultrasonic.add_compatible_sensor(None, 'LEGO', 'Sonar') #Tested with version 'V1.0'
class Color20(BaseAnalogSensor):
def __init__(self, brick, port):
super(Color20, self).__init__(brick, port)
self.set_light_color(Type.COLORFULL)
def set_light_color(self, color):
"""color should be one of the COLOR* Type namespace values, e.g. Type.COLORBLUE"""
self.set_input_mode(color, Mode.RAW)
def get_light_color(self):
"""Returns one of the COLOR* Type namespace values, e.g. Type.COLORRED"""
return self.get_input_values().sensor_type
def get_reflected_light(self, color):
self.set_light_color(color)
return self.get_input_values().scaled_value
def get_color(self):
self.get_reflected_light(Type.COLORFULL)
return self.get_input_values().scaled_value
def get_light(self):
self.get_reflected_light(Type.LIGHT_INACTIVE)
return self.get_input_values().scaled_value
get_sample = get_color
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