fusion_hat.modules.grayscale_module module

class fusion_hat.modules.grayscale_module.Grayscale_Module(pin0: ADC, pin1: ADC, pin2: ADC, reference: int = None)[source]

Bases: object

3 channel Grayscale Module

LEFT = 0: Left Channel

MIDDLE = 1: Middle Channel

RIGHT = 2: Right Channel

REFERENCE_DEFAULT = [1000, 1000, 1000]

reference(ref: list = None) → list[source]

Get Set reference value

Parameters:: ref (list) – reference value, None to get reference value
Returns:: reference value
Return type:: list

read_status(datas: list = None) → list[source]

Read line status

Parameters:: datas (list) – list of grayscale datas, if None, read from sensor
Returns:: list of line status, 0 for white, 1 for black
Return type:: list

read(channel: int = None) → list[source]

read a channel or all datas

Parameters:: channel (int/None) – channel to read, leave empty to read all. 0, 1, 2 or Grayscale_Module.LEFT, Grayscale_Module.CENTER, Grayscale_Module.RIGHT
Returns:: list of grayscale data
Return type:: list

class fusion_hat.modules.grayscale_module.LineTracker(left: ADC, middle: ADC, right: ADC, slopes: list = None, offsets: list = None)[source]

Bases: object

Line Tracker

LINE_DIFF = 200

CLIFF_THRESHOLD = 120

LINE_REFERENCE_UPDATE_RATE = 0.05

read_channel(channel: int, raw: bool = False) → int[source]

Read a channel

Parameters:

channel (int) – channel to read, 0, 1, 2 or Grayscale_Module.LEFT, Grayscale_Module.CENTER, Grayscale_Module.RIGHT
raw (bool) – if True, return raw data, False to return calibrated data

Returns:

grayscale data

Return type:

int

calibrate_data(data: list) → list[source]

Calibrate grayscale data :param data: list of grayscale data :type data: list

Returns:: list of calibrated grayscale data
Return type:: list

read(raw: bool = False) → list[source]

Read line status

Parameters:: raw (bool) – if True, return raw data, False to return calibrated data
Returns:: list of line status, 0 for white, 1 for black
Return type:: list

is_on_cliff(data: list = None) → bool[source]

Check if robot is on cliff

Parameters:: data (list) – list of grayscale data, leave empty to read from sensor
Returns:: True if robot is on cliff, False otherwise
Return type:: bool

get_line_position(data: list = None)[source]

Get line position

Parameters:: data (list) – list of grayscale data, leave empty to read from sensor
Returns:: line position, -1 for left, 0 for center, 1 for right
Return type:: float

is_on_line(data: list = None) → bool[source]

Check if robot is on line

Parameters:: data (list) – list of grayscale data, leave empty to read from sensor
Returns:: True if robot is on line, False otherwise
Return type:: bool

set_calibration_data(slopes: list, offsets: list)[source]: Set calibration data :param slopes: list of slopes :type slopes: list :param offsets: list of offsets :type offsets: list

set_cliff_threshold(threshold: int)[source]: Set cliff threshold :param threshold: cliff threshold :type threshold: int

get_calibration_data()[source]: Get calibration data :returns: tuple of slopes and offsets :rtype: tuple

calibrate(light_data: list, dark_data: list)[source]: Calibrate line tracker :param light_data: list of light data :type light_data: list :param dark_data: list of dark data :type dark_data: list

update_line_background_reference(current_values)[source]: Update the line background value

update_line_reference(current_values)[source]: Update the line reference value