Sensors module

class sensors.Camera

Bases: object

A class to groups functions related to OpenMV Cam

More infos: https://openmv.io/products/openmv-cam-h7

width

the screen width in pixels

height

the screen height in pixels

BALL_DIAMETER = 45

FOCAL_LENGTH = 2.8

HFOV = 70.8

REAL_SIZE = 7

THRESHOLDS = [(0, 100, 127, 42, -128, 127)]

VFOV = 55.6

__init__()

Initialize the LED to show state and setup the camera sensor

static ball_blob()

Takes a snapshot and find pixels area matching with thresholds . :returns: returns a blob object if visible. :rtype: image.blob | None

Additionnal informations can be found here about the blob object:

https://docs.openmv.io/library/omv.image.html

static distance_to(blob) → float

Calculate real distance between camera and object.

Parameters

blob – a blob object (you can get one with ball_blob())

Returns

The distance in millimeters.

static get_angle(blob) → float

Get horizontal relative angle (in degrees) of the blob.

Parameters

blob – a blob object (you can get one with ball_blob())

Returns

The angle between [-35.4, +35.4]

shutdown()

Shutdown the camera and the LED

class sensors.Sensor

Bases: object

A class that represent the Arduino-controlled sensors

Offers an interface for ultrasonics sensors and line sensors (IR).

PIN = 2

SLAVE_ADDRESS = 16

__init__()

recv() → tuple

Requests the Arduino controller via I2C and unpack data received from sensors.

Returns

The front and back distance and a list of four line sensors values.

Return type

(front_dist, back_dist, line_sensors)