#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.iodevices import I2CDevice
from pybricks.parameters import Port

# Initialize the EV3
ev3 = EV3Brick()

# Initialize I2C Sensor
device = I2CDevice(Port.S2, 0xD2 >> 1)

# Read one byte from the device.
# For this device, we can read the Who Am I
# register (0x0F) for the expected value: 211.
if 211 not in device.read(0x0F):
    raise OSError("Device is not attached")

# To write data, create a bytes object of one
# or more bytes. For example:
# data = bytes((1, 2, 3))

# Write one byte (value 0x08) to register 0x22
device.write(0x22, bytes((0x08,)))

I2C 地址

I2C 地址是 7 位值。然而，大多数制造乐高兼容传感器的供应商在其文档中都提供了 8 位地址。要使用这些地址，您必须将它们移动 1 位。例如，如果记录的地址 0xD2，您可以执行以下作 地址 = 0xD2 >> 1.

#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.iodevices import I2CDevice
from pybricks.parameters import Port

# Initialize the EV3
ev3 = EV3Brick()

# Initialize I2C Sensor
device = I2CDevice(Port.S2, 0xD2 >> 1)

# Recommended for reading
result, = device.read(reg=0x0F, length=1)

# Read 1 byte from no particular register:
device.read(reg=None, length=1)

# Read 0 bytes from no particular register:
device.read(reg=None, length=0)

# I2C write operations consist of a register byte followed
# by a series of data bytes. Depending on your device, you
# can choose to skip the register or data as follows:

# Recommended for writing:
device.write(reg=0x22, data=b'\x08')

# Write 1 byte to no particular register:
device.write(reg=None, data=b'\x08')

# Write 0 bytes to a particular register:
device.write(reg=0x08, data=None)

# Write 0 bytes to no particular register:
device.write(reg=None, data=None)

#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.iodevices import UARTDevice
from pybricks.parameters import Port
from pybricks.media.ev3dev import SoundFile

# Initialize the EV3
ev3 = EV3Brick()

# Initialize sensor port 2 as a uart device
ser = UARTDevice(Port.S2, baudrate=115200)

# Write some data
ser.write(b'\r\nHello, world!\r\n')

# Play a sound while we wait for some data
for i in range(3):
    ev3.speaker.play_file(SoundFile.HELLO)
    ev3.speaker.play_file(SoundFile.GOOD)
    ev3.speaker.play_file(SoundFile.MORNING)
    print("Bytes waiting to be read:", ser.waiting())

# Read all data received while the sound was playing
data = ser.read_all()
print(data)

#!/usr/bin/env pybricks-micropython
from pybricks.parameters import Port
from pybricks.tools import wait
from pybricks.iodevices import Ev3devSensor

# Initialize an Ev3devSensor.
# In this example we use the
# LEGO MINDSTORMS EV3 Color Sensor.
sensor = Ev3devSensor(Port.S3)

while True:
    # Read the raw RGB values
    r, g, b = sensor.read('RGB-RAW')

    # Print results
    print('R: {0}\t G: {1}\t B: {2}'.format(r, g, b))

    # Wait
    wait(200)

#!/usr/bin/env pybricks-micropython
from pybricks.parameters import Port
from pybricks.iodevices import Ev3devSensor

class MySensor(Ev3devSensor):
    """Example of extending the Ev3devSensor class."""

    def __init__(self, port):
        """Initialize the sensor."""

        # Initialize the parent class.
        super().__init__(port)

        # Get the sysfs path.
        self.path = '/sys/class/lego-sensor/sensor' + str(self.sensor_index)

    def get_modes(self):
        """Get a list of mode strings so we don't have to look them up."""

        # The path of the modes file.
        modes_path = self.path + '/modes'

        # Open the modes file.
        with open(modes_path, 'r') as m:

            # Read the contents.
            contents = m.read()

            # Strip the newline symbol, and split at every space symbol.
            return contents.strip().split(' ')


# Initialize the sensor
sensor = MySensor(Port.S3)

# Show where this sensor can be found
print(sensor.path)

# Print the available modes
modes = sensor.get_modes()
print(modes)

# Read mode 0 of this sensor
val = sensor.read(modes[0])
print(val)