光学的

介绍

光学传感器提供了从不同物体返回数据的方法。这使得大脑能够检测颜色及其色调和亮度。

For the examples below, the configured Optical Sensor will be named Optical1 and will be used in all subsequent examples throughout this API documentation when referring to optical class methods.

以下是所有可用方法的列表：

动作——使用光学传感器检测物体。

• objectDetected – Registers a function to call when the Optical Sensor detects an object.

• objectLost – Registers a function to call when the Optical Sensor loses an object.

变异器——修改光学传感器灯和检测范围。

• setLight – Turns the Optical Sensor’s LED on or off.

• setLightPower – Sets the Optical Sensor’s LED to a specific brightness.

• objectDetectThreshold – Sets the distance an object has to be from the Optical Sensor for it to be detected.

Getters – 使用光学传感器返回对象数据。

• isNearObject – Returns whether or not an object is close to the sensor.

• color – Return the detected color as a predefined color object.

• brightness – Returns the detected brightness of an object.

• hue – Returns the detected hue value as a float from 0 to 359.99 degrees.

• installed – Returns whether or not the Optical Sensor is connected to the Brain.

构造函数——手动初始化光学传感器。

• optical – Create an Optical Sensor.

行动

objectDetected

objectDetected registers a function to be called when the Optical Sensor detects an object.

Usage:
Optical1.objectDetected(callback);

参数	描述
callback	当光学传感器检测到物体时执行的先前定义的功能。

// Display a message when an object is detected
void onObjectDetected() {
  Brain.Screen.print("Object detected!");
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Call onObjectDetected when an object is detected
  Optical1.objectDetected(onObjectDetected);
}

objectLost

objectLost registers a function to be called when the Optical Sensor loses a detected object.

Usage:
Optical1.objectLost(callback);

参数	描述
callback	先前定义的当光学传感器丢失物体时执行的功能。

// Display a message when an object is lost
void onObjectLost() {
  Brain.Screen.print("Object lost!");
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Call onObjectLost when an object is lost
  Optical1.objectLost(onObjectLost);

  // Keep the program running
  while (true) {
    wait(20, msec);
  }
}

修改器

setLight

setLight turns the Optical Sensor’s LED lights on or off.

Usage:
Optical1.setLight(state);

参数	描述
state	The state to set the LED lights to: ledState::off ledState::on

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Blink the Optical Sensor LED on and off
  while (true) {
    Optical1.setLight(ledState::on);
    wait(0.5, seconds);
    Optical1.setLight(ledState::off);
    wait(0.5, seconds);
  }
}

setLightPower

setLightPower sets the specific brightness of the Optical Sensor’s LED lights.

Usage:
Optical1.setLightPower(power, units);

参数	描述
power	LED 灯的亮度将设置为 0 至 100。
units	The units that represent the LED brightness: percent

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Set the Optical Sensor LED to 25% power
  Optical1.setLightPower(25, percent);
  wait(1, seconds);

  // Set the LED to 75% power
  Optical1.setLightPower(75, percent);
  wait(1, seconds);

  // Turn the LED off
  Optical1.setLightPower(0, percent);
}

objectDetectThreshold

objectDetectThreshold sets the distance away an object must be before the Optical Sensor will detect it.

Usage:
Optical1.objectDetectThreshold(value);

参数	描述
value	新的检测阈值为 0 到 255 之间的整数。值为 0 表示阈值没有变化。

吸气剂

isNearObject

isNearObject returns a Boolean indicating whether or not the Optical Sensor detects a close object.

• 1 – The Optical Sensor detects a close object.

• 0 – The Optical Sensor does not detect a close object.

Usage:
Optical1.isNearObject()

参数	描述
	该方法没有参数。

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Continuously check for nearby objects
  while (true) {
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);

    if (Optical1.isNearObject()) {
      Brain.Screen.print("Object close!");
    } else {
      Brain.Screen.print("No object");
    }

    wait(0.25, seconds);
  }
}

color

color returns the detected color from the Optical Sensor as an instance of a predefined color object, as shown below:

• red

• green

• blue

• white

• yellow

• orange

• purple

• cyan

• red_violet

• violet

• blue_violet

• blue_green

• yellow_green

• yellow_orange

• red_orange

• black

• transparent

Usage:
Optical1.color()

参数	描述
	该方法没有参数。

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Continuously check the detected color
  while (true) {

    // Compare the color with "green"
    if (convertColorToString(Optical1.color()) == "green") {
      Brain.Screen.print("Green object!");
    } else {
      Brain.Screen.print("Not green");
    }

    wait(0.5, seconds);
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
  }
}

Note: The function convertColorToString is automatically created by VEXcode when an Optical Sensor is configured in the Devices window. It is only available inside VEXcode IQ (2nd gen) projects and will not work in other environments.

When using color outside of VEXcode, comparisons should be made directly with a colorType value — any color that begins with colorType:: (for example, colorType::green or colorType::red).

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Continuously check the detected color
  while (true) {

    // Compare the color with the colorType
    if (Optical1.color() == colorType::green) {
      Brain.Screen.print("Green object!");
    } else {
      Brain.Screen.print("Not green");
    }

    wait(0.5, seconds);
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
  }
}

brightness

brightness returns the brightness value from the Optical Sensor as a double from 0 to 100.

Usage:
Optical1.brightness()

参数	描述
	该方法没有参数。

hue

hue returns the hue value detected by the Optical Sensor as a double from 0 to 359.99.

Usage:
Optical1.hue()

参数	描述
	该方法没有参数。

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Continuously show hue readings
  while (true) {
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    
    Brain.Screen.print("Hue: %f", Optical1.hue());

    wait(0.25, seconds);
  }
}

installed

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

• 1 – The Optical Sensor is connected to the Brain.

• 0 – The Optical Sensor is not connected to the Brain.

Usage:
Optical1.installed()

参数	描述
	该方法没有参数。

构造函数

optical

optical creates an object of the optical Class in the specified port.

Usage:
optical Optical1 = optical(port);

范围	描述
port	Which Smart Port that the Optical Sensor is connected to as PORT followed by the port number, ranging from 1 to 12.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Create an Optical Sensor in Port 1
  optical CustomOptical = optical(PORT1);
}