EV3 CS cal: move the calibration procedure to a separate program

lib/ev3/color.py

@@ -188,43 +188,3 @@ class ColorSensor(EV3UartSensor):
             return code
         else:  # code == 0: COLOR_NONE => return None
             return None
-
-    def calibrate_hw(self):
-        """
-        Send a hardware recalibration request to the sensor.
-
-        BEWARE. Do not call this unless you know what you are doing.
-
-        The calibration is intended to give the sensor an idea what a
-        "100% white" is. Once the sensor receives the calibration
-        challenge, it will perform one RGB measurement. This measurement
-        will then be encoded into the sensor's EEPROM (any previous
-        factory calibration will be overwritten!).
-
-        The hardware calibration affects only the following sensor modes:
-         - COL-REFLECT (handled by the sensor.reflection() method)
-         - COL-COLOR (handled by the sensor.color() method)
-        These are the sensor modes that perform scaling within the sensor itself.
-
-        After the calibration, the COL-REFLECT mode should return 100 %
-        if you keep the sensor in the same position as during calibration.
-
-        For a repeatable calibration process, it should be possible to
-        build a simple calibration jig. It seems that the factory LEGO
-        calibration makes the sensor return 100 % in COL-REFLECT when
-        the sensor is pointed at a 3x3 surface made of white LEGO 32523
-        parts from a distance of ~one Technic brick.
-        """
-        self.read_raw_mode(ColorSensor.MODE_COL_CAL) # the sensor will send one DATA message with all zeros
-        self.write_command(b'LEGO-FAC-CAL-1') # this will allow the calibration to start
-
-        # loop until the sensor sends a new DATA message; it should contain nonzero data (the calibration is then complete)
-        items = self.read_raw_mode(ColorSensor.MODE_COL_CAL)
-        while items[0] == 0:
-            items = self.read_raw_mode(ColorSensor.MODE_COL_CAL)
-
-        # restart the sensor (after the calibration it will be stuck in the COL-CAL mode)
-        self.start_reset()
-
-        # wait for reconnect
-        self.reflection()

programs/factory/ev3_color_cal.py

+"""
+Perform a hardware recalibration of the EV3 Color sensor plugged into the port S1.
+
+BEWARE. Do not run this program this unless you know what you are doing.
+
+The calibration is intended to give the sensor an idea what a
+"100% white" is. Once the sensor receives the calibration
+command from this program, it will perform one RGB measurement.
+This measurement will then be saved into the sensor's EEPROM
+(and any previous factory calibration will be overwritten!).
+
+The hardware calibration affects only the following sensor modes:
+ - COL-REFLECT (handled by the sensor.reflection() method)
+ - COL-COLOR (handled by the sensor.color() method)
+These are the sensor modes that perform scaling within the sensor itself.
+
+After the calibration, the COL-REFLECT mode should return 100 %
+if you keep the sensor in the same position as during calibration.
+
+For a repeatable calibration process, it should be possible to
+build a simple calibration jig. It seems that the factory LEGO
+calibration makes the sensor return 100 % in COL-REFLECT when
+the sensor is pointed at a 3x3 surface made of white LEGO 32523
+parts from a distance of ~one Technic brick.
+"""
+import time
+
+from lib.cube import SH1106_I2C
+from lib.ev3 import ColorSensor
+from lib.ev3.color import COLOR_SENSOR_ID
+from lib.robot_consts import Port, Sensor, Button
+
+
+def main():
+    global robot
+    display: SH1106_I2C = robot.display
+
+    robot.init_sensor(sensor_type=Sensor.EV3_COLOR, port=Port.S1)
+    cs: ColorSensor = robot.sensors.light[Port.S1]
+
+    debounce = False
+    this_calibrated = False
+    while True:
+        status_text, unplugged, ready = check_readiness(cs, this_calibrated)
+        if unplugged:
+            this_calibrated = False
+
+        display.fill(0)
+        display.text("EV3 CS cal tool", 0, 0, 1)
+        display.hline(0, 8, 128, 1)
+        display.text(status_text, 0, 10, 1)
+
+        if ready:
+            try:
+                reading = cs.reflection()
+            except:
+                reading = -1
+            pressed = robot.buttons.pressed()
+
+            if not pressed[Button.OK] or debounce:
+                display.text(f"R: {reading} %", 0, 18, 1)
+                display.text("Press OK to cal", 0, 26, 1)
+                display.text("The scanned sur-", 0, 40, 1)
+                display.text("face shall later", 0, 48, 1)
+                display.text("return R: 100 %", 0, 56, 1)
+                display.show()
+                if not pressed[Button.OK]:
+                    debounce = False
+            else:
+                debounce = True
+                display.text("Calibrating...", 0, 26, 1)
+                display.show()
+                recalibrate(cs)
+                this_calibrated = True
+        else:
+            if unplugged:
+                display.text("- use port S1", 0, 18, 1)
+            display.show()
+
+        time.sleep(0.1)
+
+
+def check_readiness(cs: ColorSensor, this_calibrated):
+    is_connected = cs.is_connected()
+    is_ready = cs.is_ready()  # implies is_connected
+    is_cs = cs.sensor_id() == COLOR_SENSOR_ID  # implies is_ready
+
+    if is_cs:
+        if this_calibrated:
+            status = "S: done"
+        else:
+            status = "S: ready"
+    elif is_ready:
+        status = "S: incorr. type"
+    elif is_connected:
+        status = "S: handshaking"
+    else:
+        status = "S: unplugged"
+
+    return status, not is_connected, is_cs
+
+
+def recalibrate(sensor: ColorSensor):
+    # this will prepare the sensor; it will respond with one DATA message with all zeros
+    sensor.read_raw_mode(ColorSensor.MODE_COL_CAL)
+
+    # this will allow the calibration to start
+    sensor.write_command(b'LEGO-FAC-CAL-1')
+
+    # loop until the sensor sends a new DATA message - the calibration is then complete
+    # the new message should contain nonzero data
+    items = sensor.read_raw_mode(ColorSensor.MODE_COL_CAL)
+    while items[0] == 0:
+        items = sensor.read_raw_mode(ColorSensor.MODE_COL_CAL)
+
+    # restart the sensor (after the calibration it will be stuck in the COL-CAL mode)
+    sensor.start_reset()
+
+    # wait for reconnect
+    sensor.reflection()
+
+main()