想象#

初始化视觉类#

使用以下构造函数创建视觉传感器：

The vision constructor creates a vision object in the specified port.

范围	描述
`port`	视觉传感器连接到的有效智能端口。
`bright`	视觉传感器的亮度设置，范围从 0 到 255。
`sigs`	一个或多个签名对象的名称。

// Create a new Signature "darkBlue" with the signature class.
vision::signature darkBlue = vision::signature(1, -3911, -3435, -3673,10879, 11421, 11150,2.5, 0);
// Create a new Vision Sensor "Vision1" with the vision class.
vision Vision1 = vision(PORT1, 50, darkBlue);

This Vision1 vision object and darkBlue signature object will be used in all subsequent examples throughout this API documentation when referring to vision class methods.

类方法#

拍摄快照（）#

The takeSnapshot(index, count) method takes the current snapshot visible to the Vision sensor and detects the objects of a given signature, code, or signature id.

在拍摄快照之前，您必须配置视觉传感器要查找的签名。

参数	描述
指数	签名、代码或签名 ID。
数数	可选。要获取的对象的最大数量。默认值为 8。

**返回：**无。

while (true) {
  // Take a snapshot to check for detected objects.
  Vision1.takeSnapshot(darkBlue);

  // Clear the screen/reset so that we can display
  // new information.
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);

  // If objects were found, print the location.
  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Center X: %d", Vision1.largestObject.centerX);
  } else {
    Brain.Screen.print("no object");
  }

  wait(0.5, seconds);
}

最大对象#

The largestObject property holds the largest object detected by the Vision sensor.

然后，您可以访问视觉对象的以下属性。

视觉对象属性	描述
`Vision.largestObject.id`	对象的唯一 ID。
`Vision.largestObject.originX`	对象左上角的 x 坐标。
`Vision.largestObject.originY`	对象左上角的 y 坐标。
`Vision.largestObject.centerX`	对象的中心 x 坐标。
`Vision.largestObject.centerY`	对象的中心 y 坐标。
`Vision.largestObject.width`	物体的宽度。
`Vision.largestObject.height`	物体的高度。
`Vision.largestObject.angle`	物体的角度。
`Vision.largestObject.exists`	视觉相机是否检测到物体。

**返回：**一个视觉对象。

while (true) {
  // Take a snapshot to check for detected objects.
  Vision1.takeSnapshot(darkBlue);

  // Clear the screen/reset so that we can display
  // new information.
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);

  // If objects were found, print the location.
  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Center X: %d", Vision1.largestObject.centerX);
  } else {
    Brain.Screen.print("no object");
  }

  wait(0.5, seconds);
}

对象数量#

The objectCount property holds the number of objects detected in the latest snapshot taken by the Vision sensor.

**返回：**视觉传感器检测到的物体数量。

while (true) {
  // Take a snapshot to check for detected objects.
  Vision1.takeSnapshot(darkBlue);

  // Clear the screen/reset so that we can display
  // new information.
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);

  // Print how many objects were detected.
  Brain.Screen.print("object count: %d", Vision1.objectCount);

  wait(0.5, seconds);
}

设置LED模式（）#

The setLedMode(mode) method changes the mode of the LED on the Vision Sensor.

参数	描述
模式	LED 模式。自动模式下，LED 颜色由视觉传感器固件控制。手动模式下，LED 颜色由用户程序控制。

返回： 如果设置保存成功，则返回 True。如果设置保存失败，则返回 False。

获取 LED 模式 ()#

The getLedMode() method returns the mode of the LED from the Vision Sensor.

Returns: An ledMode that represents the current mode of the Vision Sensor LED.

设置LED亮度（）#

The setLedBrightness(percent) method changes the brightness of the LED on the Vision Sensor when LED is set to manual mode.

参数	描述
百分比	手动模式下视觉传感器 LED 总亮度的百分比。取值范围为 0 至 100。0 = LED 熄灭。

Returns: true if the setting was successfully saved. false if it was not.

获取LED亮度（）#

The getLedBrightnesstLedMode() method returns the brightness of the LED from the Vision Sensor.

返回： 一个介于 0 到 100 之间的值，表示视觉传感器 LED 的当前亮度。

设置LED颜色（）#

The setLedColor(red, green, blue) method changes the color of the LED on the Vision Sensor when LED is set to manual mode.

参数	描述
红色的	0 - 255 之间的值，表示 LED 红色的强度。
绿色的	0 - 255 之间的值，表示 LED 绿色的强度。
蓝色的	0 - 255 之间的值，表示 LED 蓝色的强度。

Returns: true if the setting was successfully saved.

获取 LED 颜色 ()#

The getLedColor(red, green, blue) method returns the color of the LED from the Vision Sensor.

参数	描述
红色的	用于存储 LED 红色强度的值的引用。
绿色的	用于存储 LED 绿色强度的值的引用。
蓝色的	用于存储 LED 蓝色强度的值的引用。

Returns: true if the values were successfully received. false if they were not.

时间戳（）#

The timestamp() method requests the timestamp of the last received status packet from the Vision Sensor.

**返回：**最后一个状态包的时间戳，以毫秒为单位的无符号 32 位整数。

安装()#

The installed() method checks if the Vision Sensor is connected.

Returns: true if the Vision Sensor is connected. false if it is not.