Color recognition test.

src/move.py

@@ -3,7 +3,6 @@
 import ev3dev.ev3 as ev3
 from wheel import Wheel
 from sensor import Sensor
-import time
 
 
 class Move:
@@ -11,7 +10,7 @@ class Move:
         try:
             self._wheel_l = Wheel('outB')
             self._wheel_r = Wheel('outC')
-            self._sensor = Sensor()
+            self._camera = Sensor()
             self._bumper = ev3.TouchSensor()
         except:
             print("ERROR: Cannot find Motor/Sensor")
@@ -29,52 +28,8 @@ class Move:
     # Probably redundant because aligning can be done while scanning other paths
 
     def _aligntoedge(self):
-        '''
-        isonedge = False
-        alternatingvalue = 2  # value used to switch turning directions using mod 2 hence theres only two possible values when you keep increasing the value
-        if(self._sensor.getbrightness() < 24):
-            while (not (self._sensor.getbrightness() == 24)):
-                self._wheel_l.speed_set(5)
-                self._wheel_r.speed_set(-5)
-        elif(self._sensor.getbrightness() > 24):
-            while (not isonedge):
-                if alternatingvalue % 2 == 0:
-                    isonedge = self._findedgeonrightside(alternatingvalue)
-                    self._wheel_l.stop()
-                    self._wheel_r.stop()
-                if alternatingvalue % 2 == 1:
-                    isonedge = self._findedgeonleftside(alternatingvalue)
-                    self._wheel_l.stop()
-                    self._wheel_r.stop()
-                alternatingvalue = alternatingvalue + 1
-        '''
         pass
 
-    '''
-    def _findedgeonleftside(self, alternatingvalue):
-        i = 0
-        while i < alternatingvalue:
-            self._wheel_r.speed_set(5)
-            self._wheel_l.speed_set(-5)
-            if (self._sensor.getbrightness() == 24):
-                return True
-            i = i + 1
-        return False
-
-    def _findedgeonrightside(self, alternatingvalue):
-        i = 0
-        while i < alternatingvalue:
-            self._wheel_l.speed_set(5)
-            self._wheel_r.speed_set(-5)
-            if (self._sensor.getbrightness() == 24):
-                time.sleep(0.05)
-                while(not (self._sensor.getbrightness() == 24)):
-                    self._wheel_l.speed_set(5)
-                    self._wheel_r.speed_set(-5)
-                return True
-            i = i + 1
-        return False
-    '''
 
     '''
     uses odometry and the planet object to map edges that are connected to
@@ -92,15 +47,14 @@ class Move:
         self._wheel_r.speed_set(24)
         self._wheel_l.run()
         self._wheel_r.run()
-	while (not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
+        while (self._bumper.value() == False and self._camera.lastcolor == None ):
-            self._wheel_l.speed_set(48 - self._sensor.getbrightness())
+            self._camera.setmode('COL-REFLECT')
-            self._wheel_r.speed_set(self._sensor.getbrightness())
+            self._wheel_l.speed_set(48 - self._camera.getbrightness())
+            self._wheel_r.speed_set(self._camera.getbrightness())
+            self._camera.setmode('RGB-RAW')
+            self._camera.getcolor()
             if(isknownstation == False):
                 pass  # run odometry stuff here
 
-        if (not self._bumper.value()):
-            time.sleep(1)
-            # self._aligntoedge()
-
         self._wheel_l.stop()
         self._wheel_r.stop()

src/sensor.py

@@ -3,21 +3,6 @@
 import ev3dev.ev3 as ev3
 from enum import Enum, unique
 
-
-@unique
-class Color(Enum):
-    RED = (80, 95, 20, 40, 15, 30)
-    BLUE = (10, 25, 60, 80, 70, 90)
-
-    def __init__(self, rmin, rmax, gmin, gmax, bmin, bmax):
-        self.rmin = rmin
-        self.rmax = rmax
-        self.gmin = gmin
-        self.gmax = gmax
-        self.bmin = bmin
-        self.bmax = bmax
-
-
 '''
 add enum for color definitions (type should be tupel of int's).
 later onwards compare the idividual readouts like this to determine the color:
@@ -30,31 +15,30 @@ color = (100, 30, 20)
 '''
 
 
+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.foundColor = False
+        self.lastcolor = None
 
     def getbrightness(self):
-        self._sensor.mode = 'COL-REFLECT'
+        if(self._sensor.mode == 'COL-REFLECT'):
             return self._sensor.value()
-
-    def isRed(self):
-        self._sensor.mode = 'RGB-RAW'
-        r, g, b = self._sensor.bin_data("hhh")
-        if(Color.RED.rmin <= r <= Color.RED.rmax and Color.RED.gmin <= g <= Color.RED.gmax and Color.RED.bmin <= b <= Color.RED.bmax):
-            return True
         else:
-            return False
+            print("ERROR: Wrong Sensor Mode.")
 
-    def isBlue(self):
+    def getcolor(self):
-        self._sensor.mode = 'RGB-RAW'
+        if(self._sensor.mode == 'RGB-RAW'):
-        r, g, b = self._sensor.bin_data("hhh")
+            RGB = self._sensor.bin_data("hhh")
-        if(Color.BLUE.rmin <= r <= Color.BLUE.rmax and Color.BLUE.gmin <= g <= Color.BLUE.gmax and Color.BLUE.bmin <= b <= Color.BLUE.bmax):
+            if(RGB[0] > Color.RED[0] and (RGB[1], RGB[2]) < (Color.RED[1], Color.RED[2])):
-            return True
+                self.lastcolor = Color.RED
-        else:
+            if(RGB[0] < Color.BLUE[0] and (RGB[1], RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
-            return False
+                self.lastcolor = Color.BLUE
 
     def setmode(self, newmode):
         self._sensor.mode = newmode