From 8de073049e1899a0c75affde84efcc6b6df505c2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jakub=20Van=C4=9Bk?= <linuxtardis@gmail.com>
Date: Wed, 6 Nov 2024 08:20:29 +0100
Subject: [PATCH] Fix the reconnection sequence of EV3 color sensor after
calibration
I have missed that the sensor enters the "STATE_CALIBRATE_DONE" state
after the calibration. From the reverse-engineered sources it seems to me
that in this mode, the sensor will no longer process CMD-SELECT messages.
This commit should fix this by cutting off NACKs to the sensor and
letting it reboot.
---
lib/ev3/color.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/lib/ev3/color.py b/lib/ev3/color.py
index a1786f3..c0efc24 100644
--- a/lib/ev3/color.py
+++ b/lib/ev3/color.py
@@ -223,5 +223,8 @@ class ColorSensor(EV3UartSensor):
while items[0] == 0:
items = self.read_raw_mode(ColorSensor.MODE_COL_CAL)
- # switch the sensor back to a mode where it will not time out
+ # restart the sensor (after the calibration it will be stuck in the COL-CAL mode)
+ self.start_reset()
+
+ # wait for reconnect
self.reflection()
--
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