眼睛

介绍

VEX 123 机器人内置眼部传感器，可以检测物体和颜色。它还可以报告反射回传感器的光量以及检测到的颜色色调值。

眼睛传感器带有一个可以打开或关闭的指示灯，以帮助它更清晰地识别物体和颜色。

眼动追踪传感器的编码方式有很多种。以下列出了所有眼动追踪方法：

变异器 — 调整眼部传感器设置。

• set_light — Turns the Eye Sensor’s light on or off.

• set_light_power — Sets the Eye Sensor’s light power level.

获取器 — 返回眼动传感器检测到的内容。

• 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 the Eye Sensor detects an object within range.

• is_color_detected — Returns whether the Eye Sensor detects a specific color.

• is_bright — Returns whether the Eye Sensor detects a bright object.

突变体

set_light

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

Usage:
robot.eye.set_light(state)

参数	描述
state	The state of the Eye Sensor’s light: OFF or ON.

# Continuously blink the light.
while True:
    robot.eye.set_light(ON)
    wait(2, SECONDS)
    robot.eye.set_light(OFF)
    wait(2, SECONDS)

set_light_power

set_light_power sets how bright the Eye Sensor’s light is. The light can help the Eye Sensor detect objects and colors more clearly.

百分比越高，灯光越亮；百分比越低，灯光越暗。

如果眼部传感器的灯是关闭的，将灯光功率设置为 0% 以上即可打开灯。

如果眼部传感器的指示灯亮着，将灯光功率设置为 0% 将关闭指示灯。

Usage:
robot.eye.set_light_power(value)

参数	描述
value	设置眼部传感器灯光的亮度，范围从 0% 到 100%。请使用整数。

# Set the light to different power levels.
robot.eye.set_light_power(25)
wait(2, SECONDS)
robot.eye.set_light_power(50)
wait(2, SECONDS)
robot.eye.set_light_power(100)

获取器

get_hue

get_hue returns the color detected by the Eye Sensor as a whole number from 0 to 359.00 degrees.

色相是用色轮上的数字来描述颜色的一种方法。

Usage:
robot.eye.get_hue()

参数	描述
	此方法没有参数。

# Display if an object is pink.
while True:
    console.clear()
    if 290 < robot.eye.get_hue() < 350:
        console.print("Pink!")
    else:
        console.print("Not pink!")
    wait(0.1, SECONDS)

get_brightness

get_brightness returns how bright the detected light is, as a whole number from 0% to 100%.

百分比越高，意味着反射回眼部传感器的光线越多；百分比越低，意味着反射回的光线越少。

Usage:
robot.eye.get_brightness()

参数	描述
	此方法没有参数。

# Display whether a detected object is bright.
robot.eye.set_light_power(100)
robot.drive(FORWARD)
while not robot.eye.is_object_detected():
    wait(0.1, SECONDS)
wait(0.1, SECONDS)
if robot.eye.get_brightness() < 70:
    console.print("Object not bright.")
else:
    console.print("Bright object!")

is_object_detected

is_object_detected returns a Boolean that reports whether or not the Eye Sensor detects an object within range.

• True — The Eye Sensor detects an object.

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

Usage:
robot.eye.is_object_detected()

参数	描述
	此方法没有参数。

# Stop driving after detecting an object.
robot.eye.set_light(ON)
robot.drive(FORWARD)
wait(0.1, SECONDS)
while not robot.eye.is_object_detected():
    wait(0.1, SECONDS)
robot.stop()

is_color_detected

is_color_detected returns a Boolean that reports whether the Eye Sensor detects a specified color, based on the detected hue value.

• True — The Eye Sensor detects the selected color.

• False — The Eye Sensor does not detect the selected color.

当物体距离较近且光线充足时，眼部传感器工作效果最佳。

Usage:
robot.eye.is_color_detected(color)

参数	描述
color	The color for the Eye Sensor to check: BLUE – Hue value between 160° and 254°. GREEN – Hue value between 75° and 154°. NONE RED – Hue value between 340° and 20°.

# Stop driving after detecting a green object.
robot.eye.set_light(ON)
robot.drive(FORWARD)
wait(0.1, SECONDS)
while not robot.eye.is_color_detected(GREEN):
    wait(0.1, SECONDS)
robot.stop()

is_bright

is_bright returns a Boolean that reports whether the object detected by the Eye Sensor is bright.

当物体反射回人眼传感器的亮度超过其亮度的 70% 时，该物体被认为是明亮的。

• True — The detected object reflects more than 70% brightness.

• False — The detected object reflects 70% brightness or less.

Usage:
robot.eye.is_bright()

参数	描述
	此方法没有参数。

# Display whether a detected object is bright.
robot.eye.set_light_power(100)
robot.drive(FORWARD)
while not robot.eye.is_object_detected():
    wait(0.1, SECONDS)
wait(0.1, SECONDS)
if robot.eye.is_bright():
    console.print("Bright object!")
else:
    console.print("Object not bright.")