visionsensor.md

VisionSensor

Color & distance sensor which is sold as its own part.

Type: External Sensor

Status: Pending Issues

Modes

Mode 0 - Color

Detecting distinct LEGO Colors

Direction: Input

DataType: SByte expressing the discrete value of the color. See table.

Notes

• -1 if no color could be identified.

Mode 1 - Proximity

Reports the distance to the closest object in an abstract way, 0 for close and 10 for far away.

Direction: Input

DataType: SByte (0-10)

Mode 2 - Count

Count close objects

TODO: Further testing required

Direction: Input

DataType: Int32 (0-100)

Mode 3 - Reflection

Light reflected from the surface on which the sensor is applied to.

Direction: Input

DataType: SByte (0-100)

Mode 4 - Ambient Light

The Ambient Light received by the sensor

Direction: Input

DataType: SByte (0-100)

Mode 5 - Color

TODO: Unclear Definition

Direction: Output

DataType: SByte

Mode 6 - RGB Sensor

Color in RGB encoding (however, value range in 0-1023)

Direction: Input

DataType: 3x Int16 (r, g, b each in 0-1023)

Mode 7 - IRTx

TODO

Direction: Output

DataType: Int16

Mode 8 - SPEC1

TODO: Unclear Definition

Mode 9 - Debug

TODO: Unclear Definition

Direction: Input

DataType: 2x Int16

Mode 10 - Calibration

Seems to trigger the calibration.

• ⚠ Could potentially brick the sensor

Direction: Input

DataType: 8x Int16

Supplementary Definitions

Color

Idx	Color
-1	n/a
0	Black
3	Blue
4	Teal
5	Green
7	Yellow
9	Red
10	White

Open Questions

Port and Port Mode Information

Software 1.0.0.0 / Hardware 1.0.0.0

Binary Export

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0A-00-44-01-0A-80-08-01-05-00

Human Readable Interpretation

  - Port: 0x01 / 1
    - IOTypeId: VisionSensor / 0x0025 / 37
      Revision: SW: 1.0.0.0, HW: 1.0.0.0
      Capabilities: Output Input LogicalCombinable  
      ModeCombinations: [0000000001001111]
    - Mode 0: Name: COLOR, Symbol: IDX, Capability: Input
      - DataSet: 1x SByte, TotalFigures: 3, Decimals: 0
        Input Mapping: SupportsNull SupportFunctionalMapping20 Discrete
        Raw Min:       0, Max:      10
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:      10 (pass-through)
    - Mode 1: Name: PROX, Symbol: DIS, Capability: Input
      - DataSet: 1x SByte, TotalFigures: 3, Decimals: 0
        Input Mapping: SupportFunctionalMapping20 Absolute
        Raw Min:       0, Max:      10
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:      10 (pass-through)
    - Mode 2: Name: COUNT, Symbol: CNT, Capability: Input
      - DataSet: 1x Int32, TotalFigures: 4, Decimals: 0
        Input Mapping: Relative
        Raw Min:       0, Max:     100
        Pct Min:       0, Max:     100 (pass-through)
        SI  Min:       0, Max:     100 (pass-through)
    - Mode 3: Name: REFLT, Symbol: PCT, Capability: Input
      - DataSet: 1x SByte, TotalFigures: 3, Decimals: 0
        Input Mapping: Absolute
        Raw Min:       0, Max:     100
        Pct Min:       0, Max:     100 (pass-through)
        SI  Min:       0, Max:     100 (pass-through)
    - Mode 4: Name: AMBI, Symbol: PCT, Capability: Input
      - DataSet: 1x SByte, TotalFigures: 3, Decimals: 0
        Input Mapping: Absolute
        Raw Min:       0, Max:     100
        Pct Min:       0, Max:     100 (pass-through)
        SI  Min:       0, Max:     100 (pass-through)
    - Mode 5: Name: COL O, Symbol: IDX, Capability: Output
      - DataSet: 1x SByte, TotalFigures: 3, Decimals: 0
        Output Mapping: Discrete
        Raw Min:       0, Max:      10
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:      10 (pass-through)
    - Mode 6: Name: RGB I, Symbol: RAW, Capability: Input
      - DataSet: 3x Int16, TotalFigures: 5, Decimals: 0
        Input Mapping: Absolute
        Raw Min:       0, Max:    1023
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:    1023 (pass-through)
    - Mode 7: Name: IR Tx, Symbol: N/A, Capability: Output
      - DataSet: 1x Int16, TotalFigures: 5, Decimals: 0
        Output Mapping: Discrete
        Raw Min:       0, Max:   65535
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:   65535 (pass-through)
    - Mode 8: Name: SPEC 1, Symbol: N/A, Capability:
      - DataSet: 4x SByte, TotalFigures: 3, Decimals: 0
        Raw Min:       0, Max:     255
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:     255 (pass-through)
    - Mode 9: Name: DEBUG, Symbol: N/A, Capability: Input
      - DataSet: 2x Int16, TotalFigures: 5, Decimals: 0
        Input Mapping: Absolute
        Raw Min:       0, Max:    1023
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:      10 (scaling)
    - Mode 10: Name: CALIB, Symbol: N/A, Capability: Input
      - DataSet: 8x Int16, TotalFigures: 5, Decimals: 0
        Input Mapping: Absolute
        Raw Min:       0, Max:   65535
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:   65535 (pass-through)