Óptico#

Introducción #

El sensor óptico es un sensor basado en luz que utiliza luz reflejada para detectar objetos, identificar colores y medir el brillo y el tono.

This page uses optical_1 as the example Optical Sensor name. Replace it with your own configured name as needed.

A continuación se muestra una lista de todos los métodos:

Acciones: Enciende o apaga el LED del sensor óptico.

set_light — Set the on or off state of the LED.

Motadores: ajusta el brillo del LED y la configuración de detección de objetos.

set_light_power — Set the brightness of the LED.
object_detect_threshold — Sets the threshold for detecting objects.

Obtenedores: leen la presencia del objeto, el color, el brillo, el tono, el valor RGB y el estado del sensor.

is_near_object — Returns whether or not a detected object is near the Optical Sensor.
color — Returns the closest detected color match.
brightness — Returns the brightness of a detected object.
hue — Returns the hue of a detected object.
rgb — Returns the RGB values detected by the Optical Sensor.
installed — Returns whether or not an Optical Sensor is connected to the Brain.

Función de devolución de llamada: ejecuta el código cuando se detecta o se pierde un objeto.

object_detected — Registers a function to be called when an object is detected.
object_lost — Registers a function to be called when an object is lost.

Constructores: Inicialice y configure manualmente un sensor óptico.

Optical — Creates an Optical Sensor.

Comportamiento #

set_light #

set_light sets Optical Sensor’s LED to on or off with an LED state or an integer.

Usage:
optical_1.set_light(state)

Parámetros	Descripción
`state`	The state to set the light or the percentage of power in the range 0 to 100. The state can be either of the following: `LedStateType.OFF` (0 percent) `LedStateType.ON` (100 percent) `integer` — A brightness value given as a percent from 0 to 100.

Parámetros

Descripción

state

The state to set the light or the percentage of power in the range 0 to 100. The state can be either of the following:

LedStateType.OFF (0 percent)
LedStateType.ON (100 percent)
integer — A brightness value given as a percent from 0 to 100.

# Turn the LED on and off forever
while True:
    optical_1.set_light(LedStateType.ON)
    wait(0.5, SECONDS)
    optical_1.set_light(LedStateType.OFF)
    wait(0.5, SECONDS)

# Turn the LED on and off forever
while True:
    optical_1.set_light(100)
    wait(0.5, SECONDS)
    optical_1.set_light(0)
    wait(0.5, SECONDS)

Mutadores #

set_light_power #

set_light_power sets the brightness of the Optical Sensor’s light, helping create a more consistent and reliable light source for the sensor.

Usage:
optical_1.set_light_power(value)

Parámetros	Descripción
`value`	El nivel de potencia para configurar la luz de 0 a 100 como porcentaje.

# Turn the LED light on at different
# intensities
optical_1.set_light(LedStateType.ON)
wait(2, SECONDS)
optical_1.set_light_power(10)
wait(2, SECONDS)
optical_1.set_light_power(100)

object_detect_threshold #

object_detect_threshold sets the object detection threshold. This method also returns the newly set threshold.

Usage:
optical_1.object_detect_threshold(value)

Parámetros	Descripción
`value`	Un número en el rango 0 - 255. Un valor de 0 solo devolverá el valor actual.

def detected():
    # The Brain will print that an object was detected on
    # the Brain's screen.
    brain.screen.print("object detected")
    brain.screen.next_row()
    optical_1.object_detect_threshold(254)
    optical_1.object_detected(detected_closer)

def detected_closer():
    # Detect an object closer to the sensor.
    brain.screen.print("Detected closer")
    
# Run detected when the Optical Sensor detects an object.
optical_1.object_detect_threshold(100)
optical_1.object_detected(detected)

# Detect an object first with the detect threshold at 100,
# then again at 254
stage = 0

def detected():
    global stage
    if stage == 0:
        brain.screen.print("Get closer...")
        brain.screen.next_row()
        stage = 1
        optical_1.object_detect_threshold(254)
        optical_1.object_detected(detected_closer)

def detected_closer():
    global stage
    if stage == 1:
        brain.screen.print("Too close!")
        brain.screen.next_row()
        stage = 2

optical_1.object_detect_threshold(100)
optical_1.object_detected(detected)
wait(15, MSEC)

Captadores #

is_near_object #

is_near_object returns whether or not the Optical Sensor is nearby an object.

True — The sensor is near an object.
False — The sensor is not near an object.

Usage:
optical_1.is_near_object()

Parámetros	Descripción
	Este método no tiene parámetros.

# Stop driving when Optical Sensor is 
# near an object
while True:
    if optical_1.is_near_object():
        drivetrain.stop()
    else:
        drivetrain.drive(FORWARD)

color #

color returns the predefined color detected by the Optical Sensor:

BLACK
BLUE
CYAN
GREEN
ORANGE
PURPLE
RED
TRANSPARENT
WHITE
YELLOW

Usage:
optical_1.color()

Parámetros	Descripción
	Este método no tiene parámetros.

# Stop the robot if the Optical Sensor 
# detects red
while True:
    if optical_1.color() == Color.RED:
        drivetrain.stop()
    else:
        drivetrain.turn(RIGHT)

brightness #

brightness returns the brightness detected by the Optical Sensor.

Usage:
optical_1.brightness(readraw)

Parámetros	Descripción
`readraw`	Optional. A Boolean value to read raw brightness data instead of percentage: `True` — Return the raw data. `False` (default) — Return brightness as a percentage.

Parámetros

Descripción

readraw

Optional. A Boolean value to read raw brightness data instead of percentage:

True — Return the raw data.
False (default) — Return brightness as a percentage.

hue #

hue returns the value of the hue detected by the Optical Sensor as a float in the range of 0 to 359.99 degrees, corresponding to positions on the color wheel shown below.

Una rueda de colores circular que muestra un espectro completo de tonalidades etiquetadas con valores de grados alrededor del perímetro, aumentando en incrementos de 30 grados desde 0° en la parte superior hasta 360°.

Usage:
optical_1.hue()

Parámetros	Descripción
	Este método no tiene parámetros.

# Check the hue of a detected object
# to determine if it is pink
while True:
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    if 290 < optical_1.hue() < 350:
        brain.screen.print("Pink!")
        wait(0.1,SECONDS)
    else:
        brain.screen.print("Not pink.")
        wait(0.1,SECONDS)

rgb #

rgb returns the Optical Sensor’s RGB value.

Usage:
optical_1.rgb(raw)

Parámetros	Descripción
`raw`	Optional. A Boolean value to determine if you return raw or processed values: `True` — Return the raw value. `False` (default) — Do not return the raw value.

Parámetros

Descripción

raw

Optional. A Boolean value to determine if you return raw or processed values:

True — Return the raw value.
False (default) — Do not return the raw value.

# Display the rgb values and brightness detected
# by the Optical Sensor.
brain.screen.set_font(FontType.MONO12)
while True:
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    brain.screen.print(optical_1.rgb())
    wait(0.1, SECONDS)

installed #

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

True — The Optical Sensor is connected to the Brain.
False — The Optical Sensor is not connected to the Brain.

Usage:
optical_1.installed()

Parámetros	Descripción
	Este método no tiene parámetros.

# Display a message if the Optical Sensor
# is installed.
if optical_1.installed():
    brain.screen.print("Installed!")

Llamar de vuelta #

object_detected #

object_detected registers a callback function for when an object is detected.

Usage:
optical_1.object_detected(callback, arg)

Parámetros	Descripción
`callback`	Una función que se define previamente para ejecutarse cuando se detecta un objeto.
`arg`	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Funciones con parámetros para obtener más información.

def detected():
    drivetrain.stop()
    brain.screen.set_cursor(1, 1)
    brain.screen.print("object detected")
    wait(0.5,SECONDS)
    brain.screen.clear_screen()

# Display a message when the 
# Optical Sensor detects an object
drivetrain.drive(FORWARD)
optical_1.object_detected(detected)

object_lost #

object_lost registers a callback function for when the Optical Sensor loses a detected object.

Usage:
optical_1.object_lost(callback, arg)

Parámetros	Descripción
`callback`	Una función que se define previamente para ejecutarse cuando se pierde un objeto.
`arg`	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Funciones con parámetros para obtener más información.

def lost():
    drivetrain.stop()
    brain.screen.set_cursor(1, 1)
    brain.screen.print("object lost")
    wait(0.5,SECONDS)
    brain.screen.clear_screen()

# Display a message when the Optical 
# Sensor loses sight of on object
drivetrain.drive(REVERSE)
optical_1.object_lost(lost)

Constructores #

Constructors are used to manually create Optical objects, which are necessary for configuring an Optical Sensor outside of VEXcode.

Optical #

Optical creates an Optical Sensor.

Usage:
Optical(smartport)

Parámetro	Descripción
`smartport`	El puerto inteligente al que está conectado el sensor óptico, escrito como PORTx donde x es el número del puerto.

# Construct an Optical Sensor "optical_1" with the
# Optical class
optical_1 = Optical(Ports.PORT1)

# Display the brightness of a red object detected
# by the Optical Sensor
drivetrain.turn(RIGHT)
while not optical_1.color() == Color.RED:
    wait(50, MSEC)
drivetrain.stop()
brain.screen.print(optical_1.brightness())