Eye

Introduction

The GO Eye Sensor enables the robot to detect objects and return information relating to its appearance, such as colors and brightness.

For the examples below, the configured Eye Sensor will be named eye. They will be used in all subsequent examples throughout this API documentation when referring to Eye class methods.

Below is a list of all methods:

Mutators – Change the settings of the Eye Sensor.

• set_light – Turn the Eye Sensor’s light on or off.

• set_range – Set the Eye’s Sensor detection range.

• set_light_power – Set the Eye’s light power level.

Getters – Return data from detected objects.

• get_color – Returns the color detected by the Eye Sensor.

• get_hue – Returns the hue detected by the Eye Sensor.

• get_brightness – Returns the brightness detected by the Eye Sensor.

• is_object_detected – Returns whether or not an object is detected.

• is_color_detected – Returns whether or not a certain color is detected.

Mutators

set_light

set_light turns the Eye Sensor’s light on or off.

Usage:
eye.set_light(state)

Parameters	Description
state	The state of the light to set: OFF ON

# Build Used: Super Code Base 2.0
def main():
    # Turn the light on and off
    while True:
        eye.set_light(ON)
        wait(2, SECONDS)
        eye.set_light(OFF)
        wait(2, SECONDS)

# Start threads — Do not delete
start_thread(main)

set_range

set_range sets the range at which the Eye Sensor can detect objects.

Usage:
eye.set_range(distance)

Parameters	Description
distance	The detection range of the sensor: FAR NEAR

# Build Used: Code Base 2.0 - Eye Forward
def main():
    # Drive to an object with different ranges
    eye.set_range(FAR)
    drivetrain.drive(FORWARD)
    wait(0.2, SECONDS)
    while not eye.is_object_detected():
        wait(0.2, SECONDS)
    drivetrain.stop()
    drivetrain.drive_for(REVERSE, 100, MM)
    # Closer detection range
    eye.set_range(NEAR)
    drivetrain.drive(FORWARD)
    wait(0.2, SECONDS)
    while not eye.is_object_detected():
        wait(0.2, SECONDS)
    drivetrain.stop()


# Start threads — Do not delete
start_thread(main)

set_light_power

set_light_power sets the brightness of the Eye Sensor’s light. If the light is not on when using this method, it will be turned on at the specified brightness.

Usage:
eye.set_light_power(value)

Parameters	Description
value	The brightness of the light as a percent from 0% to 100%.

# Build Used: Super Code Base 2.0
def main():
    # Turn on the light at different brightnesses
    eye.set_light_power(25)
    wait(2, SECONDS)
    eye.set_light_power(50)
    wait(2, SECONDS)
    eye.set_light_power(100)

# Start threads — Do not delete
start_thread(main)

Getters

get_color

get_color returns the color detected by the Eye Sensor.

Usage:
eye.get_color()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Stop when red is detected
    drivetrain.drive(FORWARD)
    while True:
        if eye.get_color() == RED:
            break
        wait(0.2, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

get_hue

get_hue returns the hue of a color detected by the Eye Sensor in degrees from 0 to 359.99.

Usage:
eye.get_hue()

Parameters	Description
	This method has no parameters.

# Build Used: Code Base 2.0 - Eye Forward
def main():
    # Check the hue of a pink GO piece
    while True:
        console.clear()
        if 290 < eye.get_hue() < 350:
            console.print("Pink!")
            wait(0.1,SECONDS)
        else:
            console.print("Not pink.")
            wait(0.1,SECONDS)

# Start threads — Do not delete
start_thread(main)

get_brightness

get_brightness returns the brightness detected by the Eye Sensor as a percent from 0% to 100%.

Usage:
eye.get_brightness()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Continuously monitor the detected brightness
    # until detecting red
    monitor_sensor("eye.get_brightness")
    drivetrain.drive(FORWARD)
    while not eye.get_color() == RED:
        wait(0.2, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

is_object_detected

is_object_detected returns a Boolean indicating whether or not an object is detected by the Eye Sensor.

• True – The Eye Sensor detects an object.

• False – The Eye Sensor does not detect an object.

Usage:
eye.is_object_detected()

Parameters	Description
	This method has no parameters.

# Build Used: Code Base 2.0 - Eye Forward
def main():
    # Drive forward until an object is detected
    drivetrain.drive(FORWARD)
    wait(0.2, SECONDS)
    while not eye.is_object_detected():
        wait(0.5, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

is_color_detected

is_color_detected returns a Boolean indicating whether or not a specific color is detected by the Eye Sensor.

• True – The Eye Sensor detects the color.

• False – The Eye Sensor does not detect the color.

Usage:
eye.is_color_detected(color)

Parameters	Description
color	The color the Eye Sensor will check: BLUE GREEN NONE RED

# Build Used: Super Code Base 2.0
def main():
    # Drive forward until a green object is detected
    drivetrain.drive(FORWARD)
    wait(0.2, SECONDS)
    while not eye.is_color_detected(GREEN):
        wait(0.5, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)