50 lines
2.0 KiB
Python
50 lines
2.0 KiB
Python
from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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hub = PrimeHub()
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class ColorSensorDiagnostics:
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def __init__(self):
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self.colorsensor = None
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self.port_map = {
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"A": Port.A,
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"B": Port.B,
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"C": Port.C,
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"D": Port.D,
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"E": Port.E,
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"F": Port.F,
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}
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def initializeColorSensor(self):
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valid_ports = {"A", "B", "C", "D", "E", "F"}
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while True:
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colorinput = input(
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"This will test your color sensor.\n"
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"Enter the port for the color sensor you would like to test (A, B, C, D, E, or F): "
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).strip().upper()
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if colorinput not in valid_ports:
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print("Invalid port. Please enter A-F.")
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continue
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try:
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if self.colorsensor is None:
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self.colorsensor = ColorSensor(self.port_map[colorinput])
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print(f"Color Sensor initialized on port {colorinput}.")
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else:
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print(f"Reusing existing color sensor on port {colorinput}.")
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break
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except OSError as e:
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if e.errno == 16: # EBUSY
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print(f"Port {colorinput} is already in use. Reusing existing color sensor.")
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break
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else:
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print(f"Error initializing color sensor on port {colorinput}: {e}")
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print("Make sure a color sensor is actually connected to this port.")
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self.colorsensor = None
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self.colorsensor.detectable_colors(Color.RED, Color.YELLOW, Color.GREEN, Color.BLUE, Color.WHITE, Color.NONE)
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def printOutput(self):
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while True:
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print("HSV output:", self.colorsensor.hsv)
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print("Detected color:", self.colorsensor.color())
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