// StartListening starts another go routine that listens for changes in the touch sensor
func (sensor *TouchSensor) StartListening() {
if sensor.isListening {
return
}
go func() {
snr := findSensor(sensor.port, TypeTouch)
path := fmt.Sprintf("%s/%s", baseSensorPath, snr)
curVal := utilities.ReadUInt8Value(path, "value0")
for {
select {
case <-sensor.chStop:
return
default:
value := utilities.ReadUInt8Value(path, "value0")
if value != curVal {
for _, ch := range sensor.channels {
go sendEvent(ch, value)
}
curVal = value
}
}
time.Sleep(time.Millisecond * 50)
}
}()
sensor.isListening = true
}
// Reads the proximity value (in range 0 - 100) reported by the infrared sensor. A value of 100 corresponds to a range of approximately 70 cm.
func (self *InfraredSensor) ReadProximity() uint8 {
snr := findSensor(self.port, TypeInfrared)
path := fmt.Sprintf("%s/%s", baseSensorPath, snr)
utilities.WriteStringValue(path, "mode", "IR-PROX")
value := utilities.ReadUInt8Value(path, "value0")
return value
}
// Reads the ambient light intensity in range [0, 100].
func (self *ColorSensor) ReadAmbientLightIntensity() uint8 {
snr := findSensor(self.port, TypeColor)
path := fmt.Sprintf("%s/%s", baseSensorPath, snr)
utilities.WriteStringValue(path, "mode", "COL-AMBIENT")
value := utilities.ReadUInt8Value(path, "value0")
return value
}
// Reads one of seven color values.
func (self *ColorSensor) ReadColor() Color {
snr := findSensor(self.port, TypeColor)
path := fmt.Sprintf("%s/%s", baseSensorPath, snr)
utilities.WriteStringValue(path, "mode", "COL-COLOR")
value := utilities.ReadUInt8Value(path, "value0")
return Color(value)
}
// Looks for other nearby ultrasonic sensors and returns true if one is found.
func (self *UltrasonicSensor) Listen() bool {
snr := findSensor(self.port, TypeUltrasonic)
path := fmt.Sprintf("%s/%s", baseSensorPath, snr)
utilities.WriteStringValue(path, "mode", "US-LISTEN")
value := utilities.ReadUInt8Value(path, "value0")
if value == 1 {
return true
}
return false
}
// Waits for the touch sensor to be pressed.
func (self *TouchSensor) Wait() {
snr := findSensor(self.port, TypeTouch)
path := fmt.Sprintf("%s/%s", baseSensorPath, snr)
for {
value := utilities.ReadUInt8Value(path, "value0")
if value == 1 {
return
}
time.Sleep(time.Millisecond * 50)
}
}
// Returns the current system volume in range [0, 100].
func CurrentVolume() uint8 {
return utilities.ReadUInt8Value("/sys/devices/platform/snd-legoev3", "volume")
}
