Distancia

Introducción

El sensor de distancia puede detectar objetos directamente frente a él y medir su distancia. El sensor de 1.ª generación utiliza un sonar para la detección, mientras que el sensor de 2.ª generación utiliza un láser apto para aulas y también puede estimar el tamaño y la velocidad de un objeto.

This page uses distance_1 as the example Distance Sensor name. Replace it with your own configured name as needed.

A continuación se muestra una lista de todos los métodos disponibles:

Getters — Return data from the Distance Sensor.

• is_object_detected — (1st and 2nd gen) Returns whether an object is within range.

• distance — (1st gen) Returns the distance to the nearest object.

• object_distance — (2nd gen) Returns the distance to the nearest object.

• object_velocity — (2nd gen) Returns the speed of a detected object.

• object_size — (2nd gen) Returns the estimated size of the detected object.

• installed — (1st and 2nd gen) Returns whether the Distance Sensor is connected to the Brain.

Constructors — Manually initialize and configure a Distance Sensor.

• Sonar — Create a Distance Sensor (1st gen).

• Distance — Create a Distance Sensor (2nd gen).

Captadores

is_object_detected

is_object_detected returns a Boolean indicating whether the Distance Sensor detects an object within range.

• True — The Distance Sensor detects an object.

• False — The Distance Sensor does not detect an object.

Usage:
distance_1.is_object_detected()

Parámetros	Descripción
	Este método no tiene parámetros.

# Turn until an object is detected
drivetrain.turn(RIGHT)
while not distance_1.is_object_detected():
    wait(15, MSEC)
drivetrain.stop()
brain.screen.print("Object detected!")

distance

distance returns the current distance from the Distance Sensor and a detected object as a float.

Note: This is a Distance Sensor (1st gen) method.

Usage:
distance_1.distance(units)

Parámetros	Descripción
units	Optional. The unit that represents the distance: INCHES MM (default) — Millimeters

# Display the distance to an object
if distance_1.is_object_detected():
    print("Distance: ")
    print(distance_1.distance(MM))
else:
    print("No object detected")

object_distance

object_distance returns the distance between the Distance Sensor and the nearest object as a float.

Note: This is a Distance Sensor (2nd gen) method.

Usage:
distance_1.object_distance(units)

Parámetros	Descripción
units	Optional. The unit that represents the distance: INCHES MM (default) — Millimeters DistanceUnits.CM — Centimeters

# Drive forward until an object is 200 mm away
while distance_1.object_distance(MM) > 200:
    drivetrain.drive(FORWARD)
drivetrain.stop()

object_velocity

object_velocity returns the velocity of a detected object as a float, measured in meters per second. A positive value indicates the object is moving toward the Distance Sensor (2nd gen), while a negative value indicates it is moving away.

Note: This is a Distance Sensor (2nd gen) method.

Usage:
distance_1.object_velocity()

Parámetros	Descripción
	Este método no tiene parámetros.

# Display the velocity of a moving object
while True:
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    brain.screen.print("Velocity: ")
    brain.screen.print(distance_1.object_velocity())
    wait(100, MSEC)

object_size

object_size returns an ObjectSizeType, which represents the estimated size of the detected object based on how much of the Distance Sensor (2nd gen)’s field of view it occupies:

• ObjectSizeType.NONE — No object is detected, or the object is so close that it fills the entire field of view.

• ObjectSizeType.SMALL — The object occupies a small portion of the field of view.

• ObjectSizeType.MEDIUM — The object occupies roughly half of the field of view.

• ObjectSizeType.LARGE — The object occupies most of the field of view.

Note: This is a Distance Sensor (2nd gen) method.

Usage:
distance_1.object_size()

Parámetros	Descripción
	Este método no tiene parámetros.

installed

installed returns a Boolean indicating whether the Distance Sensor is connected to the Brain.

• True — The Distance Sensor is connected to the Brain.

• False — The Distance Sensor is not connected to the Brain.

Usage:
distance_1.installed()

Parámetros	Descripción
	Este método no tiene parámetros.

Constructores

Constructors are used to manually create Distance and Sonar objects, which are necessary for configuring a Distance Sensor (2nd gen) or (1st gen) outside of VEXcode.

Sonar

Sonar creates a Distance Sensor (1st gen).

Usage:
distance_1 = Sonar(smartport)

Parámetro	Descripción
smartport	The Smart Port that the Distance Sensor is connected to, written as PORTx where x is the number of the port.

# Create a Sonar object in Port 1
distance_1 = Sonar(Ports.PORT1)

Distance

Distance creates a Distance Sensor (2nd gen).

Usage:
distance_1 = Distance(smartport)

Parámetro	Descripción
smartport	The Smart Port that the Distance Sensor is connected to, written as PORTx where x is the number of the port.

# Create a Distance object in Port 1
distance_1 = Distance(Ports.PORT1)