距离传感器

介绍

V5距离传感器可以测量物体与机器人之间的距离，估算物体的大小，并检测物体靠近或远离机器人的速度。其工作距离范围为20毫米至2000毫米。

当物体距离传感器小于 200 毫米时，传感器的精度约为 ±15 毫米；当物体距离传感器大于 200 毫米时，精度约为 ±5%。

距离传感器采用 1 类激光，可提供精确的直线探测路径，完全适用于教室环境。

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

以下是可用方法列表：

• object_distance – Returns the distance from the sensor to the nearest object.

• object_velocity – Returns the relative speed of an object traveling toward or away from the Distance Sensor.

• object_size – Returns whether the detected object is of a certain size.

• is_object_detected – Returns whether the Distance Sensor is detecting an object.

• changed – Registers a function to be called whenever the Distance Sensor’s value changes.

构造函数 - 手动初始化距离传感器。

• Distance – Creates a Distance Sensor.

物体距离

object_distance returns the distance from the sensor to the nearest object as a float.

Usage:
distance_sensor.object_distance(units)

参数	描述
units	Optional. The unit to represent the distance: MM (default) – Millimeters, 20 to 2000 INCHES – 0.78 to 78.74

# Drive forward until the object is within 50 mm away
drivetrain.drive(FORWARD)
while not distance_sensor.object_distance < 50:
  pass
drivetrain.stop()

物体速度

object_velocity returns the relative speed of an object traveling toward or away from the Distance Sensor in m/s (meters per second).

Usage:
distance_sensor.object_velocity()

参数	描述
	此方法没有参数。

对象大小

object_size returns the size of a detected object:

• ObjectSizeType(0, “NONE”) – No object is detected

• ObjectSizeType(1, “SMALL”)

• ObjectSizeType(2, “MEDIUM”)

• ObjectSizeType(3, “LARGE”)

大小取决于距离传感器视野中被检测到的物体所占的比例。

Usage:
distance_sensor.object_size()

参数	描述
	此方法没有参数。

检测到物体

is_object_detected returns whether the Distance Sensor is detecting an object.

• True – The Distance Sensor is detecting an object.

• False – The Distance Sensor is not detecting an object.

Usage:
distance_sensor.is_object_detected()

参数	描述
	此方法没有参数。

# Drive forward until the object is within 50 mm away
while True:
  drivetrain.drive(FORWARD)
  if distance_sensor.is_object_detected():
    if distance_sensor.object_distance < 50:
      drivetrain.stop()
      break

已更改

changed registers a function to be called whenever the Distance Sensor’s value changes.

Usage:
distance_sensor.changed(callback, arg)

参数	描述
callback	先前定义的 函数，当距离传感器的值发生变化时执行。
arg	可选。包含要传递给回调函数的参数的元组。有关更多信息，请参阅使用带参数的函数。

def my_function():
  brain.screen.print("Distance changed")

# Call my_function whenever distance_sensor's value changes
distance_sensor.changed(my_function)

构造函数

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

Distance

Distance creates a Distance Sensor.

Usage:
Distance(smartport)

范围	描述
smartport	The Smart Port that the Distance Sensor is connected to, written as Ports.PORTx where x is the number of the port.

# Create a Distance Sensor in Port 10
distance_sensor = Distance(Ports.PORT10)