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cocube_sengo1

import cocube_sengo1 as sg1

Initialization​

sg1.init()
sg1.reset()
sg1.change_algo("Card Recog")

Notes:

  • init() waits for the camera to become ready, up to about 5s
  • reset() resets all algorithm states
  • before most read functions, you should call change_algo(...) first

Supported algorithms​

  • "Color Recog"
  • "Blob Detect"
  • "Ball Detect"
  • "Line Detect"
  • "Card Recog"
  • "Face Recog"
  • "QRcode"

Color recognition​

sg1.change_algo("Color Recog")
sg1.set_color_area(x, y, w, h)
sg1.read_color()
sg1.get_color_rgb("R")

Returned color names include: black, white, red, green, blue, yellow

set_color_area(x, y, w, h) also checks boundaries, so the area cannot exceed the image range.

Blob detection​

sg1.change_algo("Blob Detect")
sg1.set_blob_property("red", w, h)
sg1.read_blob()
sg1.get_blob("x")
sg1.get_blob("y")
sg1.get_blob("w")
sg1.get_blob("h")

Ball detection​

sg1.change_algo("Ball Detect")
sg1.detect_ball()
sg1.get_ball("x")

This is unique to Sengo1. Common return values include:

  • ping pong
  • tennis ball

Line following​

sg1.change_algo("Line Detect")
sg1.get_line("x1")
sg1.get_line("y1")
sg1.get_line("x2")
sg1.get_line("y2")
sg1.get_line("degree")

Card recognition​

sg1.change_algo("Card Recog")
sg1.read_card()
sg1.get_card("x")

Common Sengo1 cards include:

  • forward
  • left
  • right
  • back
  • park

Face recognition​

sg1.change_algo("Face Recog")
sg1.record_face(id)
sg1.delete_face(id)
sg1.get_face_id()
sg1.get_face("x")

QR code​

sg1.change_algo("QRcode")
sg1.read_qrcode()
sg1.get_qrcode("x")

read_qrcode() returns the QR code string content.

Notes​

  • if the current algorithm does not match, the read function throws an error directly and tells you to call change_algo(...) first
  • the valid range for record_face(id) and delete_face(id) is 1~10

Minimum example​

import time
import cocube_sengo1 as sg1

sg1.init()
sg1.change_algo("Card Recog")

while True:
    card = sg1.read_card()
    if card:
        print(card, sg1.get_card("w"))
    time.sleep_ms(100)