parent
4133828a10
commit
2e0a34c99b
@ -297,9 +297,22 @@ namespace sensors {
|
|||||||
calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
|
calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
|
||||||
this.calibrating = true; // prevent events
|
this.calibrating = true; // prevent events
|
||||||
|
|
||||||
this.light(mode); // trigger a read
|
const statusLight = brick.statusLight(); // save current status light
|
||||||
pauseUntil(() => this.isActive()); // ensure sensor is live
|
brick.setStatusLight(StatusLight.Orange);
|
||||||
|
|
||||||
|
this.light(mode); // trigger a read
|
||||||
|
pauseUntil(() => this.isActive(), 5000); // ensure sensor is live
|
||||||
|
|
||||||
|
// check sensor is ready
|
||||||
|
if (!this.isActive()) {
|
||||||
|
brick.setStatusLight(StatusLight.RedFlash); // didn't work
|
||||||
|
pause(2000);
|
||||||
|
brick.setStatusLight(statusLight); // restore previous light
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// calibrating
|
||||||
|
brick.setStatusLight(StatusLight.OrangePulse);
|
||||||
|
|
||||||
let vold = 0;
|
let vold = 0;
|
||||||
let vcount = 0;
|
let vcount = 0;
|
||||||
@ -331,6 +344,10 @@ namespace sensors {
|
|||||||
this.thresholdDetector.setLowThreshold(min);
|
this.thresholdDetector.setLowThreshold(min);
|
||||||
this.thresholdDetector.setHighThreshold(max);
|
this.thresholdDetector.setHighThreshold(max);
|
||||||
|
|
||||||
|
brick.setStatusLight(StatusLight.Green); // success
|
||||||
|
pause(1000);
|
||||||
|
brick.setStatusLight(statusLight); // resture previous light
|
||||||
|
|
||||||
this.calibrating = false;
|
this.calibrating = false;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -13,6 +13,15 @@ Sometimes when external lighting conditions change, the light sensor measures li
|
|||||||
* **mode**: the type of light threshold to calibrate. This is either ``ambient`` or ``reflected`` light.
|
* **mode**: the type of light threshold to calibrate. This is either ``ambient`` or ``reflected`` light.
|
||||||
* **deviation**: a [number](/types/number) that is the amount of light level change to adjust in a measurement.
|
* **deviation**: a [number](/types/number) that is the amount of light level change to adjust in a measurement.
|
||||||
|
|
||||||
|
## Calibration states
|
||||||
|
|
||||||
|
Calibration happens in the following phases and each phase is tracked by the brick status light.
|
||||||
|
|
||||||
|
* **orange**: sensor initialization. This phase ensures that the sensor is in the desired mode and ready to collect data.
|
||||||
|
* **orange pulse**: data collection. Light information is being collected, move the sensor over the various light sources to detect.
|
||||||
|
* **green**: calibration success. The calibration data has been saved.
|
||||||
|
* **red flash**: sensor failure. We were unable to connect to the sensor.
|
||||||
|
|
||||||
## Example
|
## Example
|
||||||
|
|
||||||
Calibrate the ``dark`` and ``light`` thresholds for the ``color 2`` sensor using reflected light.
|
Calibrate the ``dark`` and ``light`` thresholds for the ``color 2`` sensor using reflected light.
|
||||||
@ -23,4 +32,4 @@ sensors.color2.calibrateLight(LightIntensityMode.Reflected)
|
|||||||
|
|
||||||
## See also
|
## See also
|
||||||
|
|
||||||
[set threshold](/reference/sensors/color-sensor/set-threshold)
|
[set threshold](/reference/sensors/color-sensor/set-threshold)
|
||||||
|
@ -247,6 +247,15 @@ namespace brick {
|
|||||||
// the brick starts with the red color
|
// the brick starts with the red color
|
||||||
let currPattern: StatusLight = StatusLight.Off;
|
let currPattern: StatusLight = StatusLight.Off;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Gets the current light pattern.
|
||||||
|
*/
|
||||||
|
//% weight=99 group="Buttons"
|
||||||
|
//% help=brick/status-light
|
||||||
|
export function statusLight() {
|
||||||
|
return currPattern;
|
||||||
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Set lights.
|
* Set lights.
|
||||||
* @param pattern the lights pattern to use. eg: StatusLight.Orange
|
* @param pattern the lights pattern to use. eg: StatusLight.Orange
|
||||||
|
@ -22,6 +22,15 @@ To properly reset the gyro, the brick must remain still (undistrurbed) while the
|
|||||||
|
|
||||||
## ~
|
## ~
|
||||||
|
|
||||||
|
## Calibration states
|
||||||
|
|
||||||
|
Calibration happens in the following phases and each phase is tracked by the brick status light.
|
||||||
|
|
||||||
|
* **orange**: sensor initialization. This phase ensures that the sensor is in the desired mode and ready to collect data.
|
||||||
|
* **orange pulse**: data collection. Light information is being collected, move the sensor over the various light sources to detect.
|
||||||
|
* **green**: calibration success. The calibration data has been saved.
|
||||||
|
* **red flash**: sensor failure. We were unable to connect to the sensor.
|
||||||
|
|
||||||
## Example
|
## Example
|
||||||
Set the brick on a flat surface. Reset `gyro 2` and tilt the brick slighly. Reset it again while it's still tilted. Lay the brick down flat again and display the angle measurement.
|
Set the brick on a flat surface. Reset `gyro 2` and tilt the brick slighly. Reset it again while it's still tilted. Lay the brick down flat again and display the angle measurement.
|
||||||
|
|
||||||
@ -36,4 +45,4 @@ brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
|
|||||||
|
|
||||||
## See also
|
## See also
|
||||||
|
|
||||||
[angle](/reference/sensors/gyro/angle), [rate](/reference/sensors/gyro/rate)
|
[angle](/reference/sensors/gyro/angle), [rate](/reference/sensors/gyro/rate)
|
||||||
|
@ -92,6 +92,9 @@ namespace sensors {
|
|||||||
reset(): void {
|
reset(): void {
|
||||||
if (this.calibrating) return; // already in calibration mode
|
if (this.calibrating) return; // already in calibration mode
|
||||||
|
|
||||||
|
const statusLight = brick.statusLight(); // save current status light
|
||||||
|
brick.setStatusLight(StatusLight.Orange);
|
||||||
|
|
||||||
this.calibrating = true;
|
this.calibrating = true;
|
||||||
// may be triggered by a button click,
|
// may be triggered by a button click,
|
||||||
// give time for robot to settle
|
// give time for robot to settle
|
||||||
@ -101,9 +104,22 @@ namespace sensors {
|
|||||||
// switch back to the desired mode
|
// switch back to the desired mode
|
||||||
this.setMode(this.mode);
|
this.setMode(this.mode);
|
||||||
// wait till sensor is live
|
// wait till sensor is live
|
||||||
pauseUntil(() => this.isActive());
|
pauseUntil(() => this.isActive(), 5000);
|
||||||
|
|
||||||
|
// check sensor is ready
|
||||||
|
if (!this.isActive()) {
|
||||||
|
brick.setStatusLight(StatusLight.RedFlash); // didn't work
|
||||||
|
pause(2000);
|
||||||
|
brick.setStatusLight(statusLight); // restore previous light
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
// give it a bit of time to init
|
// give it a bit of time to init
|
||||||
pause(1000)
|
pause(1000)
|
||||||
|
|
||||||
|
// calibrating
|
||||||
|
brick.setStatusLight(StatusLight.OrangePulse);
|
||||||
|
|
||||||
// compute drift
|
// compute drift
|
||||||
this._drift = 0;
|
this._drift = 0;
|
||||||
if (this.mode == GyroSensorMode.Rate) {
|
if (this.mode == GyroSensorMode.Rate) {
|
||||||
@ -113,6 +129,11 @@ namespace sensors {
|
|||||||
}
|
}
|
||||||
this._drift /= 200;
|
this._drift /= 200;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
brick.setStatusLight(StatusLight.Green); // success
|
||||||
|
pause(1000);
|
||||||
|
brick.setStatusLight(statusLight); // resture previous light
|
||||||
|
|
||||||
// and we're done
|
// and we're done
|
||||||
this.calibrating = false;
|
this.calibrating = false;
|
||||||
}
|
}
|
||||||
|
Loading…
Reference in New Issue
Block a user