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316 lines
9.2 KiB
Python
316 lines
9.2 KiB
Python
# SPDX-License-Identifier: MIT
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# Copyright (c) 2018-2020 The Pybricks Authors
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"""LEGO® Powered Up motor, sensors, and lights."""
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from ._common import (KeyPad as _KeyPad, Accelerometer as _Accelerometer,
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ColorLight as _ColorLight, Motor as _Motor,
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LightArray as _LightArray)
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class Motor(_Motor):
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"""Generic class to control motors with built-in rotation sensors."""
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def reset_angle(self, angle=None):
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"""Sets the accumulated rotation angle of the motor to a desired value.
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If you don't specify an angle, the absolute angle
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will be used if your motor supports it.
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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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class RemoteControl:
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"""LEGO® Powered Up Bluetooth Remote Control/Handset."""
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light = _ColorLight()
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buttons = _KeyPad()
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def __init__(self, device=None, timeout=10000):
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"""Connect the handset to the hub.
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Arguments:
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device (str): Bluetooth address of the handset (? TODO ?).
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If you do not specify a device identifier, the hub will
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attempt to pair with any handset that is currently in
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advertising mode.
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timeout (:ref:`time`): The amount of time before giving up
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searching.
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"""
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pass
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class TiltSensor(_Accelerometer):
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"""LEGO® Powered Up Tilt Sensor."""
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def __init__(self, port):
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"""TiltSensor(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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class ColorDistanceSensor:
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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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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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"""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 ``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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"""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 using a red light.
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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 rgb(self):
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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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:returns: Tuple of reflections for red, green, and blue light, each
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ranging from 0.0 (no reflection) to 100.0 (high reflection).
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:rtype: (:ref:`percentage`, :ref:`percentage`, :ref:`percentage`)
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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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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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"""
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pass
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def remote(self, channel, button_1=None, button_2=None):
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"""Makes the sensor act like a Power Functions 1.0 IR remote.
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Choose a channel and up to two buttons to "press". The infrared
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receiver behaves just as if responding to the real remote.
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The sensor keeps sending the signal (as if you keep pressing the
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buttons). It keeps going until you call this method again with
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different buttons or no buttons at all.
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Arguments:
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channel (int): Channel number of the remote.
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button_1 (Button): Button of the Power Functions 1.0 IR remote.
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Choose ``None`` if you don't want to press
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any button.
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button_2 (Button): Button of the Power Functions 1.0 IR remote.
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Choose ``None`` if you don't want to press
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any button.
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"""
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class ColorSensor:
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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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"""
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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, illuminate=True):
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"""Scans the color of a surface or an external light source.
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Arguments:
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illuminate (bool): Choose ``true`` to keep the sensor light on.
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This is useful to scan the color of objects and surfaces.
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Choose ``false`` to turn the sensor light off. This is useful
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to scan the color of a light source or screen.
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:returns:
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Detected color.
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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 color_map(self, hues, saturation, values):
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"""Configures how :meth:`.color` selects a
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:class:`Color <.parameters.Color>` based on a :meth:`.hsv` measurement.
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Specify only colors that you wish to detect in your application.
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This way, measurements are
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rounded to the nearest expected color, and other colors are ignored.
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If you give no arguments, the current settings will be returned as a
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tuple.
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Arguments:
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hues (dict): A dictionary that
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maps :class:`Color <.parameters.Color>` to hues. When the
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saturation is high, :meth:`.color` will return one of these
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colors, whichever has the nearest hue.
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saturation (:ref:`percentage`): Minimum saturation of a proper
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color.
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values (:ref:`percentage`): A dictionary that
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maps ``Color.WHITE``, ``Color.GRAY``, ``Color.BLACK`` and
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``None`` to brightness values. When the saturation is
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low, :meth:`.color` will return one of these colors, whichever
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has the nearest value.
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"""
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pass
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def hsv(self, illuminate=True):
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"""Scans the hue, saturation and brightness value of a
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surface or an external light source.
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Arguments:
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illuminate (bool): Choose ``true`` to keep the sensor light on.
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This is useful to scan the color of objects and surfaces.
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Choose ``false`` to turn the sensor light off. This is useful
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to scan the color of a light source or screen.
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:returns: Tuple with the hue, saturation, and value
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(brightness) of the color.
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:rtype: (:ref:`angle`, :ref:`percentage`, :ref:`percentage`)
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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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"""
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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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"""Measures the distance between the sensor and an object using
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ultrasonic sound waves.
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Returns:
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:ref:`distance`: Distance.
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"""
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pass
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def presence(self):
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"""Checks for the presence of other ultrasonic sensors by detecting
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ultrasonic sounds.
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Returns:
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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 ForceSensor:
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"""LEGO® SPIKE Force Sensor."""
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def __init__(self, port):
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"""
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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 force(self):
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"""Measures the force exerted on the sensor.
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Returns:
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:ref:`force`: Measured force (up to approximately 10.00 N).
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"""
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def distance(self):
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"""Measures by how much the sensor button has moved.
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Returns:
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:ref:`distance`: How much the sensor button has
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moved (up to approximately 8.00 mm).
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"""
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def pressed(self, force=3):
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"""Checks if the sensor button is pressed.
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Arguments:
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force (:ref:`force`): Minimum force to be considered pressed.
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Returns:
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bool: ``True`` if the sensor is pressed, ``False`` if it is not.
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"""
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def touched(self):
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"""Checks if the sensor is touched.
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This is similar to :meth:`pressed`, but it detects slight movements of
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the button even when the measured force is still considered zero.
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Returns:
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bool: ``True`` if the sensor is touched or pressed, ``False``
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if it is not.
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"""
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pass
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