mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-11 17:14:41 +00:00
pybricks.common: Add CommonColorSensor class.
Fixes https://github.com/pybricks/pybricks-api/issues/103
This commit is contained in:
Laurens Valk
@@ -45,6 +45,12 @@ NXT Color Sensor
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.. automethod:: pybricks.nxtdevices.ColorSensor.rgb
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.. rubric:: Advanced color sensing
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.. automethod:: pybricks.nxtdevices.ColorSensor.hsv
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.. automethod:: pybricks.nxtdevices.ColorSensor.detectable_colors
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.. rubric:: Built-in light
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This sensor has a built-in light. You can make it red, green, blue, or turn
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@@ -987,3 +987,145 @@ class IMU(Accelerometer):
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this returns a vector of accelerations along all axes.
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"""
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pass
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class CommonColorSensor:
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"""Generic color sensor that supports Pybricks color calibration."""
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def __init__(self, port: Port):
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"""__init__(port)
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Arguments:
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port (Port): Port to which the sensor is connected.
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"""
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pass
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def color(self) -> Color:
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"""color() -> Color
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Scans the color of a surface.
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You choose which colors are detected using the
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``detectable_colors()`` method. By default, it detects
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``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
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``Color.WHITE``, or ``Color.NONE``.
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Returns:
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Detected color.
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"""
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pass
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def hsv(self) -> Color:
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"""hsv() -> Color
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Scans the color of a surface.
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This method is similar to ``color()``, but it gives the full range
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of hue, saturation and brightness values, instead of rounding it to the
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nearest detectable color.
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Returns:
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Measured color. The color is described by a hue (0--359), a
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saturation (0--100), and a brightness value (0--100).
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"""
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pass
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def ambient(self) -> int:
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"""ambient() -> int: %
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Measures the ambient light intensity.
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Returns:
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Ambient light intensity, ranging from 0% (dark)
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to 100% (bright).
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"""
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pass
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def reflection(self) -> int:
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"""reflection() -> int: %
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Measures how much a surface reflects the light emitted by the
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sensor.
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Returns:
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Measured reflection, ranging from 0% (no reflection) to
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100% (high reflection).
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"""
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pass
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@overload
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def detectable_colors(self, colors: Collection[Color]) -> None:
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...
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@overload
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def detectable_colors(self) -> Tuple[Color]:
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...
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def detectable_colors(self, *args):
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"""
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detectable_colors(colors)
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detectable_colors() -> Tuple[Color]
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Configures which colors the ``color()`` method should detect.
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Specify only colors that you wish to detect in your application.
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This way, the full-color measurements are rounded to the nearest
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desired color, and other colors are ignored. This improves reliability.
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If you give no arguments, the currently chosen colors will be returned
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as a tuple.
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Arguments:
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colors (tuple): Tuple of :class:`Color <.parameters.Color>`
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objects: the colors that you want to detect. You can pick
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standard colors such as ``Color.MAGENTA``, or provide your
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own colors like ``Color(h=348, s=96, v=40)`` for even
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better results. You measure your own colors with the
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``hsv()`` method.
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"""
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pass
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class AmbientColorSensor(CommonColorSensor):
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"""Like CommonColorSensor, but also detects ambient colors when the sensor
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light is turned off"""
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def color(self, surface: bool = True) -> Optional[Color]:
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"""color(surface=True) -> Color
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Scans the color of a surface or an external light source.
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You choose which colors are detected using the
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``detectable_colors()`` method. By default, it detects
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``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
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``Color.WHITE``, or ``Color.NONE``.
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Arguments:
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surface (bool): Choose ``true`` to scan the color of objects
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and surfaces. Choose ``false`` to scan the color of
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screens and other external light sources.
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Returns:
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Detected color.`
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"""
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pass
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def hsv(self, surface: bool = True) -> Color:
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"""hsv(surface=True) -> Color
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Scans the color of a surface or an external light source.
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This method is similar to ``color()``, but it gives the full range
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of hue, saturation and brightness values, instead of rounding it to the
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nearest detectable color.
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Arguments:
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surface (bool): Choose ``true`` to scan the color of objects
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and surfaces. Choose ``false`` to scan the color of
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screens and other external light sources.
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Returns:
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Measured color. The color is described by a hue (0--359), a
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saturation (0--100), and a brightness value (0--100).
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"""
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pass
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@@ -4,10 +4,10 @@
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"""Use LEGO® MINDSTORMS® NXT motors and sensors with the EV3 brick."""
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from .parameters import Port, Color
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from .parameters import Port
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from .iodevices import AnalogSensor
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from ._common import ColorLight
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from ._common import ColorLight, CommonColorSensor
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from typing import Callable, Optional, Tuple
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@@ -69,51 +69,11 @@ class LightSensor:
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pass
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class ColorSensor(LightSensor):
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class ColorSensor(CommonColorSensor):
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"""LEGO® MINDSTORMS® NXT Color Sensor."""
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light = ColorLight()
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def __init__(self, port: Port):
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"""ColorSensor(port)
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Arguments:
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port (Port): Port to which the sensor is connected.
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"""
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pass
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def color(self) -> Color:
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"""color() -> Color
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Measures the color of a surface.
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Returns:
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``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
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``Color.RED``, ``Color.WHITE`` or ``Color.NONE``.
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"""
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pass
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def ambient(self) -> int:
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"""ambient() -> int: %
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Measures the ambient light intensity.
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Returns:
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Ambient light intensity, ranging from 0% (dark) to 100% (bright).
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"""
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pass
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def reflection(self) -> int:
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"""reflection() -> int: %
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Measures the reflection of a surface using a red light.
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Returns:
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Reflection, ranging from 0% (no reflection) to 100% (high
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reflection).
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"""
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pass
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def rgb(self) -> Tuple[int, int, int]:
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"""Measures the reflection of a surface using a red, green, and then a
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blue light.
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+10
-167
@@ -11,9 +11,11 @@ from ._common import (
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ColorLight as _ColorLight,
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Motor as _Motor,
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LightArray as _LightArray,
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CommonColorSensor,
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AmbientColorSensor,
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)
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from .parameters import Button as _Button, Color, Direction
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from .parameters import Button as _Button, Color, Direction, Port
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class DCMotor(_DCMotor):
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@@ -112,93 +114,19 @@ class TiltSensor:
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pass
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class ColorDistanceSensor:
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class ColorDistanceSensor(CommonColorSensor):
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"""LEGO® Powered Up Color and Distance Sensor."""
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light = _ColorLight()
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def __init__(self, port):
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"""ColorDistanceSensor(port)
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def distance(self) -> int:
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"""distance() -> int: %
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Arguments:
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port (Port): Port to which the sensor is connected.
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"""
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pass
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def color(self):
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"""Scans the color of a surface.
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You choose which colors are detected using the
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:meth:`.detectable_colors` method. By default, it detects
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``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
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``Color.WHITE``, or ``Color.NONE``.
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:returns:
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Detected color.
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:rtype: :class:`Color <.parameters.Color>`
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"""
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pass
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def ambient(self):
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"""Measures the ambient light intensity.
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Returns:
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:ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
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to 100 (bright).
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"""
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pass
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def reflection(self):
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"""Measures the reflection of a surface.
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Returns:
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:ref:`percentage`: Reflection, ranging from 0.0 (no reflection) to
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100.0 (high reflection).
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"""
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pass
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def detectable_colors(self, colors):
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"""Configures which colors the :meth:`.color` method should detect.
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Specify only colors that you wish to detect in your application.
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This way, the full-color measurements are rounded to the nearest
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desired color, and other colors are ignored. This improves reliability.
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If you give no arguments, the currently chosen colors will be returned
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as a tuple.
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Arguments:
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colors (list): Tuple of :class:`Color <.parameters.Color>` objects:
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the colors that you want to detect. You can pick
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standard colors such as ``Color.MAGENTA``, or provide your own
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colors like ``Color(h=348, s=96, v=40)`` for even
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better results. You measure your own colors with the
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:meth:`.hsv` method.
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"""
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pass
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def hsv(self):
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"""Scans the color of a surface.
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This method is similar to :meth:`.color`, but it gives the full range
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of hue, saturation and brightness values, instead of rounding it to the
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nearest detectable color.
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:returns:
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Measured color. The color is described by a hue (0--359), a
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saturation (0--100), and a brightness value (0--100).
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:rtype: :class:`Color <.parameters.Color>`
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"""
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pass
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def distance(self):
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"""Measures the relative distance between the sensor and an object
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Measures the relative distance between the sensor and an object
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using infrared light.
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Returns:
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:ref:`relativedistance`: Relative distance ranging from 0 (closest)
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to 100 (farthest).
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Distance ranging from 0% (closest) to 100% (farthest).
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"""
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pass
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@@ -231,103 +159,18 @@ class PFMotor(DCMotor):
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pass
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class ColorSensor:
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class ColorSensor(AmbientColorSensor):
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"""LEGO® SPIKE Color Sensor."""
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lights = _LightArray(3)
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def __init__(self, port):
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"""ColorSensor(port)
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Arguments:
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port (Port): Port to which the sensor is connected.
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"""
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pass
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def color(self, surface=True):
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"""Scans the color of a surface or an external light source.
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You choose which colors are detected using the
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:meth:`.detectable_colors` method. By default, it detects
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``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
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``Color.WHITE``, or ``Color.NONE``.
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Arguments:
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surface (bool): Choose ``true`` to scan the color of objects
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and surfaces. Choose ``false`` to scan the color of
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screens and other external light sources.
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:returns:
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Detected color.
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:rtype: :class:`Color <.parameters.Color>`
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"""
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pass
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def detectable_colors(self, colors):
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"""Configures which colors the :meth:`.color` method should detect.
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Specify only colors that you wish to detect in your application.
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This way, the full-color measurements are rounded to the nearest
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desired color, and other colors are ignored. This improves reliability.
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If you give no arguments, the currently chosen colors will be returned
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as a tuple.
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Arguments:
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colors (list): Tuple of :class:`Color <.parameters.Color>` objects:
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the colors that you want to detect. You can pick
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standard colors such as ``Color.MAGENTA``, or provide your own
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colors like ``Color(h=348, s=96, v=40)`` for even
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better results. You measure your own colors with the
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:meth:`.hsv` method.
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"""
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pass
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def hsv(self, surface=True):
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"""Scans the color of a surface or an external light source.
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This method is similar to :meth:`.color`, but it gives the full range
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of hue, saturation and brightness values, instead of rounding it to the
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nearest detectable color.
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Arguments:
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surface (bool): Choose ``true`` to scan the color of objects
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and surfaces. Choose ``false`` to scan the color of
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screens and other external light sources.
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:returns:
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Measured color. The color is described by a hue (0--359), a
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saturation (0--100), and a brightness value (0--100).
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:rtype: :class:`Color <.parameters.Color>`
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"""
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pass
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def ambient(self):
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"""Measures the ambient light intensity.
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Returns:
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:ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
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to 100 (bright).
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"""
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pass
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def reflection(self):
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"""Measures the reflection of a surface.
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Returns:
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:ref:`percentage`: Reflection, ranging from 0.0 (no reflection) to
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100.0 (high reflection).
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"""
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pass
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class UltrasonicSensor:
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"""LEGO® SPIKE Color Sensor."""
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lights = _LightArray(3)
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def __init__(self, port):
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def __init__(self, port: Port):
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"""UltrasonicSensor(port)
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Arguments:
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@@ -14,25 +14,6 @@ from ._common import (
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from .parameters import Color, Port
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class ColorDistanceSensor:
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light: ColorLight
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def __init__(self, port: Port): ...
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def color(self) -> Optional[Color]: ...
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def ambient(self) -> int: ...
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def reflection(self) -> int: ...
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def detectable_colors(self, colors: Collection[Color]) -> None: ...
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def hsv(self) -> Color: ...
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def distance(self) -> int: ...
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class ColorSensor:
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lights: LightArray
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def __init__(self, port: Port): ...
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def color(self, surface: bool = True) -> Optional[Color]: ...
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def detectable_colors(self, colors: Collection[Color]) -> None: ...
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def hsv(self, surface: bool = True) -> Color: ...
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def ambient(self) -> int: ...
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def reflection(self) -> int: ...
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class UltrasonicSensor:
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lights: LightArray
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def __init__(self, port: Port): ...
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Block a user