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355 lines
9.7 KiB
Python
355 lines
9.7 KiB
Python
"""LEGO® MINDSTORMS® EV3 motors and sensors."""
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from .parameters import Direction
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from .builtins import Motor as CommonMotor
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class Motor(CommonMotor):
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"""LEGO® MINDSTORMS® EV3 Medium or Large Motor.
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Element 99455/6148292 or 95658/6148278, contained in:
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* 31313: LEGO® MINDSTORMS® EV3 (2013)
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* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
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* 45503 or 45502: Separate part (2013)
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"""
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class TouchSensor():
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"""LEGO® MINDSTORMS® EV3 Touch Sensor.
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Element 95648/6138404, contained in:
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* 31313: LEGO® MINDSTORMS® EV3 (2013)
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* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
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* 45507: Separate part (2013)
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"""
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def __init__(self, port):
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"""TouchSensor(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 pressed(self):
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"""Check if the sensor is pressed.
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Returns:
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:obj:`bool`: ``True`` if the sensor is pressed, ``False`` if it is
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not pressed.
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"""
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pass
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class ColorSensor():
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"""LEGO® MINDSTORMS® EV3 Color Sensor.
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Element 95650/6128869, contained in:
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* 31313: LEGO® MINDSTORMS® EV3 (2013)
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* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
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* 45506: Separate part (2013)
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"""
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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):
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"""Measure 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``, ``Color.BROWN`` or ``None``.
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:rtype: :class:`Color <.parameters.Color>`, or ``None`` if no color is
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detected.
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"""
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pass
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def ambient(self):
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"""Measure 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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"""Measure the reflection of a surface using a red light.
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Returns:
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:ref:`percentage`: 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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def rgb(self):
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"""Measure the reflection of a surface using a red, green, and then a
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blue light.
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Returns:
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tuple of three :ref:`percentages <percentage>`: Reflection for red,
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green, and blue light, each 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 InfraredSensor():
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"""LEGO® MINDSTORMS® EV3 Infrared Sensor and Beacon.
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Element 95654/6132629 and 72156/6127283, contained in:
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* 31313: LEGO® MINDSTORMS® EV3 (2013)
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* 45509 and 45508: Separate parts (2013)
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"""
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def __init__(self, port):
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"""InfraredSensor(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 distance(self):
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"""Measure the relative distance between the sensor and an object using
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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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"""
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pass
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def beacon(self, channel):
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"""Measure the relative distance and angle between the remote and the
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infrared sensor.
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Arguments:
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channel (int): Channel number of the remote.
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:returns: Tuple of relative distance (0 to 100) and approximate angle
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(-75 to 75 degrees) between remote and infrared sensor.
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:rtype: (:ref:`relativedistance`, :ref:`angle`) or
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(``None``, ``None``) if no remote is detected.
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"""
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pass
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def buttons(self, channel):
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"""Check which buttons on the infrared remote are pressed.
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This method can detect up to two buttons at once. If you press
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more buttons, you may not get useful data.
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Arguments:
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channel (int): Channel number of the remote.
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:returns: List of pressed buttons on the remote on selected channel.
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:rtype: List of :class:`Button <.parameters.Button>`
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"""
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pass
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def keypad(self):
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"""Check which buttons on the infrared remote are pressed.
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This method can independently detect all 4 up/down buttons, but
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it cannot detect the beacon button.
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This method only works with the remote in channel 1.
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:returns: List of pressed buttons on the remote on selected channel.
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:rtype: List of :class:`Button <.parameters.Button>`
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"""
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pass
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class GyroSensor():
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"""LEGO® MINDSTORMS® EV3 Gyro Sensor.
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Element 99380/6138411, contained in:
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* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
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* 45505: Separate part (2013)
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"""
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def __init__(self, port, positive_direction=Direction.CLOCKWISE):
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"""GyroSensor(port, positive_direction=Direction.CLOCKWISE)
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Arguments:
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port (Port): Port to which the sensor is connected.
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positive_direction (Direction):
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Positive rotation direction when looking at the red dot on top
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of the sensor (*Default*: Direction.CLOCKWISE).
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"""
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pass
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def speed(self):
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"""Get the speed (angular velocity) of the sensor.
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Returns:
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:ref:`speed`: Sensor angular velocity.
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"""
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pass
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def angle(self):
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"""Get the accumulated angle of the sensor.
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Returns:
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:ref:`angle`: Rotation angle.
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"""
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pass
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def reset_angle(self, angle):
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"""Set the rotation angle of the sensor to a desired value.
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Arguments:
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angle (:ref:`angle`): Value to which the angle should be reset.
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"""
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pass
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def _calibrate(self):
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"""Calibrate the sensor.
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This process sets the speed and angle to zero and ensures that the
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angle value does not drift.
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Make sure that the sensor does not move while calibrating.
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This process can take up to 15 seconds.
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"""
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pass
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class UltrasonicSensor():
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"""LEGO® MINDSTORMS® EV3 Ultrasonic Sensor.
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Element 95652/6138403, contained in:
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* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
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* 45504: Separate part (2013)
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"""
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def __init__(self, port):
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"""UltrasonicSensor(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 distance(self, silent=False):
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"""Measure the distance between the sensor and an object using
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ultrasonic sound waves.
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Arguments:
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silent (bool): Choose ``True`` to turn the sensor off after
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measuring the distance. Choose ``False`` to leave
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the sensor on (*Default*). When you choose
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``silent=True``, the sensor does not
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emit sounds waves except when taking the
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measurement. This reduces interference with other
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ultrasonic sensors, but turning the sensor off takes
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approximately 300 ms each time.
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Returns:
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:ref:`distance`: Distance (millimeters).
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"""
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pass
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def presence(self):
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"""Check for the presence of other ultrasonic sensors by detecting
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ultrasonic sounds.
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If the other ultrasonic sensor is operating in silent mode, you can
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only detect the presence of that sensor while it is taking a
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measurement.
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Returns:
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:obj:`bool`: ``True`` if ultrasonic sounds are detected,
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``False`` if not.
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"""
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pass
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class AnalogSensor():
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"""Generic or custom analog sensor."""
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def __init__(self, port, check_type=True):
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"""AnalogSensor(port, check_type=True)
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Arguments:
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port (Port): Port to which the sensor is connected.
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verify_type(bool): Verify that the sensor is detected as an analog
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sensor (*Default*: ``True``).
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If you choose ``verify_type=False``, the EV3 will treat it as
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an analog sensor even if no such sensor is detected. This is
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useful if you have a (custom) analog sensor that is not
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detected automatically.
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"""
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pass
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def voltage(self):
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"""Measured analog voltage.
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Returns:
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:ref:`voltage`: Analog voltage.
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"""
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pass
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def resistance(self):
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"""Measured resistance.
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This value is only meaningful if the analog device is a passive load
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such as a resistor or thermistor.
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Returns:
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:ref:`resistance: Ω <voltage>`: Resistance of the analog device.
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"""
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pass
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def active(self):
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"""Set sensor to active mode. This sets pin 5 of the sensor
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port to `high`.
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This is used in some analog
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sensors to control a switch. For example, if you use the NXT Light
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Sensor as a custom analog sensor, this method will turn the light on.
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From then on, ``voltage()`` returns the raw reflected light value.
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"""
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pass
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def passive(self):
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"""Set sensor to passive mode. This sets pin 5 of the sensor
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port to `low`.
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This is used in some analog
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sensors to control a switch. For example, if you use the NXT Light
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Sensor as a custom analog sensor, this method will turn the light off.
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From then on, ``voltage()`` returns the raw ambient light value.
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"""
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pass
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