ColorDistanceSensor¶

LEGO Color and Distance Sensor 88007

BrickLink listing

The LEGO® Color and Distance Sensor can sort between six different colors and objects within 5 to 10 cm range

NOTE: Support for this device is experimental and not all features are available yet.

class buildhat.ColorDistanceSensor(port)¶

Color Distance sensor

Parameters:: port – Port of device
Raises:: DeviceError – Occurs if there is no colordistance sensor attached to port

callback(func)¶

Set callback function

Parameters:: func – Callback function

property connected¶

Whether device is connected or not

Returns:: Connection status

static desc_for_id(typeid)¶

Translate integer type id to something more descriptive than the device name

Parameters:: typeid – Type of device
Returns:: Description of device

property description¶

Device on port info

Returns:: Device description

deselect()¶: Unselect data from mode

get()¶

Extract information from device

Returns:: Data from device
Raises:: DeviceError – Occurs if device not in valid mode

get_ambient_light()¶

Return the ambient light

Returns:: Ambient light
Return type:: int

get_color()¶

Return the color

Returns:: Name of the color as a string
Return type:: str

get_color_rgb()¶

Return the color

Returns:: RGBI representation
Return type:: list

get_distance()¶

Return the distance

Returns:: Distance
Return type:: int

get_reflected_light()¶

Return the reflected light

Returns:: Reflected light
Return type:: int

property interval¶

Interval between data points in milliseconds

Getter:: Gets interval
Setter:: Sets interval
Returns:: Device interval
Return type:: int

property ir_address¶: IR Address space of 0x0 for default PoweredUp or 0x1 for extra space

property ir_channel¶: Get the IR channel for message transmission

isconnected()¶

Whether it is connected or not

Raises:: DeviceError – Occurs if device no longer the same

mode(modev)¶

Set combimode or simple mode

Parameters:: modev – List of tuples for a combimode, or integer for simple mode

property name¶

Determine name of device on port

Returns:: Device name

static name_for_id(typeid)¶

Translate integer type id to device name (python class)

Parameters:: typeid – Type of device
Returns:: Name of device

off()¶: Turn off sensor

on()¶: Turn on the sensor and LED

reverse()¶: Reverse polarity

rgb_to_hsv(r, g, b)¶

Convert RGB to HSV

Based on https://www.rapidtables.com/convert/color/rgb-to-hsv.html algorithm

Parameters:

r – Red
g – Green
b – Blue

Returns:

HSV representation of color

Return type:

tuple

segment_color(r, g, b)¶

Return the color name from HSV

Parameters:

r – Red
g – Green
b – Blue

Returns:

Name of the color as a string

Return type:

str

select()¶

Request data from mode

Raises:: DeviceError – Occurs if device not in valid mode

send_ir_combo_direct(port_b_output, port_a_output)¶

Send an IR message via Power Functions RC Protocol in Combo Direct mode

PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm

Valid values for the output variables are: 0x0: Float output 0x1: Clockwise/Forward 0x2: Counterclockwise/Backwards 0x3: Brake then float

Parameters:

port_b_output – 0-3 indicating the output to send to port B
port_a_output – 0-3 indicating the output to send to port A

send_ir_combo_pwm(port_b_mode, port_a_mode)¶

Send an IR message via Power Functions RC Protocol in Combo PWM mode

PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm

Valid values for the modes are: 0x0 Float 0x1 PWM Forward step 1 0x2 PWM Forward step 2 0x3 PWM Forward step 3 0x4 PWM Forward step 4 0x5 PWM Forward step 5 0x6 PWM Forward step 6 0x7 PWM Forward step 7 0x8 Brake (then float v1.20) 0x9 PWM Backward step 7 0xA PWM Backward step 6 0xB PWM Backward step 5 0xC PWM Backward step 4 0xD PWM Backward step 3 0xE PWM Backward step 2 0xF PWM Backward step 1

Parameters:

port_b_mode – 0-15 indicating the command to send to port B
port_a_mode – 0-15 indicating the command to send to port A

send_ir_extended(mode)¶

Send an IR message via Power Functions RC Protocol in Extended mode

PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm

Valid values for the mode are: 0x0: Brake Port A (timeout) 0x1: Increment Speed on Port A 0x2: Decrement Speed on Port A

0x4: Toggle Forward/Clockwise/Float on Port B

0x6: Toggle Address bit 0x7: Align toggle bit

Parameters:: mode – 0-2,4,6-7

send_ir_single_pin(port, pin, mode, timeout)¶

Send an IR message via Power Functions RC Protocol in Single Pin mode

PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm

Valid values for the mode are: 0x0: No-op 0x1: Clear 0x2: Set 0x3: Toggle

Note: The unlabeled IR receiver (vs the one labeled V2) has a “firmware bug in Single Pin mode” https://www.philohome.com/pfrec/pfrec.htm

Parameters:

port – ‘A’ or ‘B’
pin – 1 or 2
mode – 0-3 indicating the pin’s mode to set
timeout – True or False

send_ir_socstid(port, mode)¶

Send an IR message via Power Functions RC Protocol in Single Output Clear/Set/Toggle/Increment/Decrement mode

PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm

Valid values for mode are: 0x0: Toggle full Clockwise/Forward (Stop to Clockwise, Clockwise to Stop, Counterclockwise to Clockwise) 0x1: Toggle direction 0x2: Increment numerical PWM 0x3: Decrement numerical PWM 0x4: Increment PWM 0x5: Decrement PWM 0x6: Full Clockwise/Forward 0x7: Full Counterclockwise/Backward 0x8: Toggle full (defaults to Forward, first) 0x9: Clear C1 (C1 to High) 0xA: Set C1 (C1 to Low) 0xB: Toggle C1 0xC: Clear C2 (C2 to High) 0xD: Set C2 (C2 to Low) 0xE: Toggle C2 0xF: Toggle full Counterclockwise/Backward (Stop to Clockwise, Counterclockwise to Stop, Clockwise to Counterclockwise)

Parameters:

port – ‘A’ or ‘B’
mode – 0-15 indicating the port’s mode to set

send_ir_sop(port, mode)¶

Send an IR message via Power Functions RC Protocol in Single Output PWM mode

PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm

Port B is blue

Valid values for mode are: 0x0: Float output 0x1: Forward/Clockwise at speed 1 0x2: Forward/Clockwise at speed 2 0x3: Forward/Clockwise at speed 3 0x4: Forward/Clockwise at speed 4 0x5: Forward/Clockwise at speed 5 0x6: Forward/Clockwise at speed 6 0x7: Forward/Clockwise at speed 7 0x8: Brake (then float v1.20) 0x9: Backwards/Counterclockwise at speed 7 0xA: Backwards/Counterclockwise at speed 6 0xB: Backwards/Counterclockwise at speed 5 0xC: Backwards/Counterclockwise at speed 4 0xD: Backwards/Counterclockwise at speed 3 0xE: Backwards/Counterclockwise at speed 2 0xF: Backwards/Counterclockwise at speed 1

Parameters:

port – ‘A’ or ‘B’
mode – 0-15 indicating the port’s mode to set

toggle_ir_toggle()¶: Toggle the IR toggle bit

property typeid¶

Type ID of device

Returns:: Type ID

property typeidcur¶

Type ID currently present

Returns:: Type ID

wait_for_new_color()¶

Wait for new color or returns immediately if first call

Returns:: Name of the color as a string
Return type:: str

wait_until_color(color)¶

Wait until specific color

Parameters:: color – Color to look for

Example¶

"""Example for color distance sensor"""

from buildhat import ColorDistanceSensor

color = ColorDistanceSensor('C')

print("Distance", color.get_distance())
print("RGBI", color.get_color_rgb())
print("Ambient", color.get_ambient_light())
print("Reflected", color.get_reflected_light())
print("Color", color.get_color())

print("Waiting for color black")
color.wait_until_color("black")
print("Found color black")

print("Waiting for color white")
color.wait_until_color("white")
print("Found color white")

while True:
    c = color.wait_for_new_color()
    print("Found new color", c)

ColorDistanceSensor¶

Example¶

Raspberry Pi Build HAT

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