robolab/src/sensor.py

#!/usr/bin/env python3

import ev3dev.ev3 as ev3
from enum import Enum, unique

'''
add enum for color definitions (type should be tupel of int's).
later onwards compare the idividual readouts like this to determine the color:
RED = (>90, <40, <25)
BLUE = (<25, >75, >90)

Example:
color = (100, 30, 20)
(color[0] > 90 and (color[1], color[2]) < (40, 25))
'''


class Color(tuple, Enum):
    RED = (90, 40, 25)
    BLUE = (25, 75, 90)


class Sensor:
    def __init__(self):
        self._sensor = ev3.ColorSensor()
        self._sensor.mode = 'COL-REFLECT'
        self.lastcolor = None

    def getbrightness(self):
        if(self._sensor.mode == 'COL-REFLECT'):
            return self._sensor.value()
        else:
            print("ERROR: Wrong Sensor Mode.")

    def getcolor(self):
        if(self._sensor.mode == 'RGB-RAW'):
            RGB = self._sensor.bin_data("hhh")
            if(RGB[0] > Color.RED[0] and (RGB[1], RGB[2]) < (Color.RED[1], Color.RED[2])):
                self.lastcolor = Color.RED
            if(RGB[0] < Color.BLUE[0] and (RGB[1], RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
                self.lastcolor = Color.BLUE

    def setmode(self, newmode):
        self._sensor.mode = newmode