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152 lines
4.5 KiB
PHP
152 lines
4.5 KiB
PHP
Analog Sensor
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^^^^^^^^^^^^^
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.. figure:: ../api/images/sensor_rj12_brown.png
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:width: 25 %
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.. autoclass:: pybricks.iodevices.AnalogSensor
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I2C Device
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^^^^^^^^^^^^^
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.. figure:: ../api/images/sensor_rj12_bluegreen.png
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:width: 25 %
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.. autoclass:: pybricks.iodevices.I2CDevice
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.. toggle-header::
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:header: **Show/hide example**
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**Example: Read and write to an I2C device.**
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.. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_basics/main.py
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.. _i2caddress:
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I2C Addresses
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---------------
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I2C addresses are 7-bit values. However, most vendors who make LEGO compatible
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sensors provide an 8-bit address in their documentation.
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To use those addresses, you must shift them by 1 bit.
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For example, if the documented address is ``0xD2``, you can do
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``address = 0xD2 >> 1``.
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Advanced I2C Commands
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---------------------
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Some rudimentary I2C devices do not require a register argument or even any
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data. You can achieve this behavior as shown in the examples below.
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.. toggle-header::
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:header: **Show/hide example**
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**Example: Advanced I2C read and write techniques.**
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.. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_extra/main.py
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**Additional technical resources**
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The ``I2CDevice`` class methods call functions from the Linux SMBus driver.
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To find out which commands are called under the hood, check the
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`Pybricks source code`_.
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More details about using I2C without MicroPython can be found on
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the `ev3dev I2C`_ page.
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.. _ev3dev I2C: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/i2c.html
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.. _Pybricks source code: https://github.com/pybricks/pybricks-micropython
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UART Device
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^^^^^^^^^^^^^
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.. figure:: ../api/images/sensor_rj12_gray.png
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:width: 25 %
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.. autoclass:: pybricks.iodevices.UARTDevice
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.. toggle-header::
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:header: **Show/hide example**
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**Example: Read and write to a UART device.**
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.. literalinclude::
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../../pybricks-projects/snippets/ev3/uart_basics/main.py
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DC Motor
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^^^^^^^^^^^^
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.. figure:: ../api/images/rcxmotor.png
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:width: 40 %
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.. autoclass:: pybricks._common.DCMotor
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:noindex:
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:no-members:
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.. automethod:: pybricks._common.DCMotor.dc
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:noindex:
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.. automethod:: pybricks._common.DCMotor.stop
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:noindex:
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Ev3dev sensors
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^^^^^^^^^^^^^^^^^^^^^
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.. figure:: ../api/images/sensor_ev3dev.png
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:width: 70 %
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EV3 MicroPython is built on top of ev3dev, which means that a sensor
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may be supported even if it is not listed in this documentation. If so, you can
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use it with the ``Ev3devSensor`` class. This is easier and faster than using
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the custom device classes given above.
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To check whether you can use the ``Ev3devSensor`` class:
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* Plug the sensor into your EV3 Brick.
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* Go to the main menu of the EV3 Brick.
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* Select `Device Browser` and then `Sensors`.
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* If your sensor shows up, you can use it.
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Now select your sensor from the menu and choose `set mode`. This shows all
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available modes for this sensor. You can use these mode names as the ``mode``
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setting below.
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To learn more about compatible devices and what each mode does,
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visit the `ev3dev sensors`_ page.
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.. autoclass:: pybricks.iodevices.Ev3devSensor
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:no-members:
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.. autoattribute:: pybricks.iodevices.Ev3devSensor.sensor_index
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:annotation:
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.. autoattribute:: pybricks.iodevices.Ev3devSensor.port_index
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:annotation:
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.. automethod:: pybricks.iodevices.Ev3devSensor.read
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.. toggle-header::
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:header: **Show/hide example: Reading values with the Ev3devSensor class**
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**Example**
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In this example we use the LEGO MINDSTORMS EV3 Color Sensor with the raw
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RGB mode. This gives uncalibrated red, green, and blue reflection values.
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.. literalinclude::
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../../pybricks-projects/snippets/ev3/ev3devsensor/main.py
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.. toggle-header::
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:header: **Show/hide example: Extending the Ev3devSensor class**
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**Example**
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This example shows how to extend the ``Ev3devSensor`` class by accessing
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additional features found in the Linux system folder for this device.
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.. literalinclude::
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../../pybricks-projects/snippets/ev3/ev3devsensor/class_example.py
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.. _ev3dev sensors: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html
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.. _Mode name: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensor_data.html
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.. _lego-sensor: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#the-lego-sensor-subsytem
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.. _lego-port: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/ports.html#the-lego-port-subsystem
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