Sensor

This file contains procedures to read input from EV3 and Powered Up sensors.

Constants

MODULE_SENSOR

7

SENSOR_SET_TYPE	0
SENSOR_GET_TYPE	1
SENSOR_SET_MODE	2
SENSOR_RESET	3
SENSOR_READ	4

	SENSOR_TYPE_NXT_TOUCH	1
	SENSOR_TYPE_NXT_LIGHT	2
	SENSOR_TYPE_NXT_SOUND	3
	SENSOR_TYPE_NXT_COLOR	4
	SENSOR_TYPE_NXT_ULTRASONIC	5
	SENSOR_TYPE_NXT_TEMPERATURE	6
	SENSOR_TYPE_TOUCH	16
	SENSOR_TYPE_COLOR	29
	SENSOR_TYPE_ULTRASONIC	30
	SENSOR_TYPE_GYRO	32
	SENSOR_TYPE_INFRARED	33
	SENSOR_TYPE_SPIKE_DISTANCE	40
	SENSOR_TYPE_SPIKE_COLOR	41
	SENSOR_TYPE_SPIKE_FORCE	42

SENSOR_VALUE_INVALID

-1

INPUT_1	0
INPUT_2	1
INPUT_3	2
INPUT_4	3

COLOR_REFLECTED	0
COLOR_AMBIENT	1
COLOR_COLOR	2
COLOR_REFLECTED_RAW	3
COLOR_RGB_RAW	4
COLOR_CALIBRATION	5

COLOR_NONE	0
COLOR_BLACK	1
COLOR_BLUE	2
COLOR_GREEN	3
COLOR_YELLOW	4
COLOR_RED	5
COLOR_WHITE	6
COLOR_BROWN	7
COLOR_VIOLET	8
COLOR_AZURE	9

BUTTON_0	0
BUTTON_1	1
BUTTON_2	2
BUTTON_3	3
BUTTON_4	4
BUTTON_5	5
BUTTON_6	6
BUTTON_7	7
BUTTON_8	8
BUTTON_9	9
BUTTON_10	10
BUTTON_11	11

ULTRASONIC_CM	0
ULTRASONIC_INCH	1
ULTRASONIC_LISTEN	2
ULTRASONIC_SI_CM	3
ULTRASONIC_SI_INCH	4
ULTRASONIC_DC_CM	5
ULTRASONIC_DC_INCH	6

GYRO_ANGLE	0
GYRO_RATE	1
GYRO_FAST	2
GYRO_RATE_AND_ANGLE	3
GYRO_CALIBRATION	4

IR_PROXIMITY	0
IR_SEEKER	1
IR_REMOTE	2
IR_REMOTE_ADVANCED	3
IR_NOT_UTILIZED	4
IR_CALIBRATION	5

Procedures

sensorLayerSetType

Set the sensor type.

proc sensorLayerSetType(number layer, number port, number type)

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.
type	number	The type of sensor: SENSOR_TYPE_TOUCH, SENSOR_TYPE_COLOR, SENSOR_TYPE_INFRARED, SENSOR_TYPE_ULTRASONIC, SENSOR_TYPE_GYRO or SENSOR_TYPE_SOUND.

---

sensorLayerGetType

get the sensor type.

proc sensorLayerGetType(number layer, number port)

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.

---

sensorLayerSetMode

Some sensors like the color or infrared sensor can have different modes. With this function you can select the mode.

proc sensorLayerSetMode(number layer, number port, number mode)

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.
mode	number

---

sensorLayerReset

Reset the sensor, this function can only be used for the qyro sensor.

proc sensorLayerReset(number layer, number port)

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.

---

sensorLayerRead

Read the sensor value.

proc sensorLayerRead(number layer, number port)

Name	Type	Description
layer	number	The layer, the daisy chained device. 0 is the primary brick.
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.

---

sensorSetType

Set the sensor type.

proc sensorSetType(number port, number type)

Name	Type	Description
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.
type	number	The type of sensor: SENSOR_TYPE_TOUCH, SENSOR_TYPE_COLOR, SENSOR_TYPE_INFRARED, SENSOR_TYPE_ULTRASONIC, SENSOR_TYPE_GYRO or SENSOR_TYPE_SOUND.

---

sensorGetType

Get the sensor type from the primary device.

proc sensorGetType(number port)

Name	Type	Description
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.

---

sensorSetMode

Some sensors line the color or infrared sensor can have different modes. With this function you can select the mode.

proc sensorSetMode(number port, number mode)

Name	Type	Description
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.
mode	number	The sensor mode.

---

sensorReset

Reset the sensor, this function can only be used for the qyro sensor.

proc sensorReset(number port)

Name	Type	Description
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.

---

sensorRead

Read the sensor value.

proc sensorRead(number port)

Name	Type	Description
port	number	The input port, the first output is 0. Constants: INPUT_1, INPUT_2, INPUT_3, INPUT_4.

Touch, color and infrared sensor

#project "Sensor demo"

#include "lib/modules/standard.whl"
#include "lib/modules/screen.whl"
#include "lib/modules/button.whl"
#include "lib/modules/sensor.whl"

string colors[8]     = ["non", "blk", "blu", "grn", "yel", "red", "wht", "brn"]
number touchValue    = FALSE
number colorValue    = COLOR_NONE
number infraredValue = BUTTON_0

proc drawTouchValue()
    setFill(FALSE)
    setFillColor(TRUE)
    drawRect(27, 43, 38, 38)
    setFill(TRUE)
    setFillColor(touchValue)
    drawRect(31, 47, 30, 30)
end

proc drawColorValue()
    setFill(FALSE)
    setFillColor(TRUE)
    drawRect(71, 43, 38, 38)
    setFill(TRUE)
    setFillColor(WHITE)
    drawRect(72, 44, 36, 36)
    setFill(FALSE)
    setFillColor(BLACK)
    setTextSize(TEXT_SIZE_2)
    drawText(78, 56, colors[colorValue])
end

proc drawInfraredValue()
    setFill(FALSE)
    setFillColor(TRUE)
    drawRect(115, 43, 38, 38)
    setFill(TRUE)
    setFillColor(WHITE)
    drawRect(116, 44, 36, 36)
    setFill(FALSE)
    setFillColor(BLACK)
    setTextSize(TEXT_SIZE_3)
    drawNumber(124, 55, infraredValue)
end

proc main()
    number value

    drawTouchValue()
    drawColorValue()
    drawInfraredValue()

    sensorSetType(INPUT_1, SENSOR_TYPE_TOUCH)
    sensorSetType(INPUT_2, SENSOR_TYPE_COLOR)
    sensorSetType(INPUT_3, SENSOR_TYPE_INFRARED)

    repeat
        value = sensorRead(INPUT_1)
        if value != touchValue
            touchValue = value
            drawTouchValue()
        end

        value = sensorRead(INPUT_2)
        if value != colorValue
            colorValue = value
            drawColorValue()
        end

        value = sensorRead(INPUT_3)
        if value != infraredValue
            infraredValue = value
            drawInfraredValue()
        end
    end
end

---