80 lines
2.4 KiB
Python
80 lines
2.4 KiB
Python
#!/usr/bin/env python3
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import ev3dev.ev3 as ev3
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from enum import Enum
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'''
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add enum for color definitions (type should be tupel of int's).
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later onwards compare the idividual readouts like this to determine the color:
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RED = (>90, <40, <25)
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BLUE = (<25, >75, >90)
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Example:
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color = (100, 30, 20)
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(color[0] > 90 and (color[1], color[2]) < (40, 25))
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'''
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'''
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Calculate brightness/to greyscale from RGB:
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http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5445596
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https://en.wikipedia.org/wiki/YUV
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Formula:
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Y=(0.299 x R) + (0.587 x G) + (0.114 x B);
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'''
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class Color(tuple, Enum):
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RED = (65, 30, 20)
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BLUE = (20, 45, 60)
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class Sensor:
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def __init__(self):
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try:
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self._bumper_l = ev3.TouchSensor("in1")
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self._bumper_r = ev3.TouchSensor("in4")
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self.bumperwaspressed = False
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self._camera = ev3.ColorSensor()
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self._camera.mode = 'RGB-RAW'
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self.RGB = self._camera.bin_data("hhh")
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self._brightness = self._camera.value()
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except OSError:
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print("Error while setting up sensors. Please make sure that everything is plugged in properly.")
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self.lastcolor = None
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self.edgebrightness = None
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def refresh(self):
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self.RGB = self._camera.bin_data("hhh")
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self._brightness = self._camera.value()
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def reset(self):
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self.bumperwaspressed = False
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self.lastcolor = None
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def calibrateBrightness(self):
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self.refresh()
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self.edgebrightness = self.getbrightness()
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def checkbumper(self):
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if(self._bumper_l.value() or self._bumper_r.value()):
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self.bumperwaspressed = True
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def getbrightness(self):
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return self._brightness
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def getcolor(self):
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if(self._camera.mode == 'RGB-RAW'):
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if(self.RGB[0] > Color.RED[0] and (self.RGB[1], self.RGB[2]) < (Color.RED[1], Color.RED[2])):
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self.lastcolor = Color.RED
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if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
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self.lastcolor = Color.BLUE
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def calibrateRGB(self, color):
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self.refresh()
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if (color is Color.RED):
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newRED = (self.RGB[0]-5, self.RGB[1]+5, self.RGB[2]+5)
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Color.RED = newRED
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elif (color is Color.BLUE):
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newBLUE = (self.RGB[0]+5, self.RGB[1]-5, self.RGB[2]-5)
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Color.BLUE = newBLUE
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