lpf2.devices

The motors, sensors and lights you can plug into a port.

You don’t create these yourself: ask the port with hub.ports.A.device() and you get the right one for whatever is plugged in, with functions that fit that device.

Classes

accelerometer	The hub's built-in accelerometer (hub.accelerometer): measures pushes and gravity in milli-g (1000 = gravity).
basic_motor	A simple motor without a rotation sensor, like a train motor. You can set its power, but not its exact speed or position.
color_distance_sensor	The BOOST Color & Distance Sensor: sees colors and roughly how far away things are.
color_sensor	The Technic Color Sensor: sees colors and how much light bounces back.
distance_sensor	The Technic Distance Sensor (the one with two "eyes"): measures how far away things are.
encoder_motor	A motor with a rotation sensor (most Technic and BOOST motors).
gyroscope	The hub's built-in gyroscope (hub.gyro): measures how fast the hub spins, in degrees per second.
hub_led	A hub's built-in colored light (hub.led).
port_expander	A Port Expander: plugs into one port and gives you four more.

Functions

registerDefault() → None

Advanced: teach the hub about the standard LEGO devices again.

Package Contents

class lpf2.devices.accelerometer

The hub’s built-in accelerometer (hub.accelerometer): measures pushes and gravity in milli-g (1000 = gravity).

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

getX() → float

Push along the x direction, in milli-g.

getY() → float

Push along the y direction, in milli-g.

getZ() → float

Push along the z direction (up/down), in milli-g.

name() → str

The device’s name as text, e.g. "Hub Accelerometer".

class lpf2.devices.basic_motor

A simple motor without a rotation sensor, like a train motor. You can set its power, but not its exact speed or position.

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

name() → str

The device’s name as text, e.g. "DC Motor (dumb)".

startPower(pw: int) → None

Run the motor at a power from -100 to 100. The sign sets the direction; 0 stops.

class lpf2.devices.color_distance_sensor

The BOOST Color & Distance Sensor: sees colors and roughly how far away things are.

getAmbientLight() → int

How bright the surroundings are, 0..100 %.

getColorIdx() → int

The color it sees, as a number from lpf2.color (e.g. compare with color.RED).

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

getDistance() → float

How far away the nearest object is, in centimeters.

getReflectedLight() → int

How much light bounces back from the surface, 0..100 %. White paper is high, black is low.

getRgb() → tuple[int, int, int]

Red, green and blue amounts: r, g, b = sensor.getRgb().

name() → str

The device’s name as text, e.g. "Color Distance Sensor".

setIrTx(value: int) → None

Advanced: send an infrared code, like an old LEGO Power Functions remote.

setLedColor(color: int) → None

Set the sensor’s light to a color from lpf2.color.

setMode(modeNum: int, delta: float = 1.0) → None

Advanced: choose which value the sensor reports (one of the MODE_… numbers).

MODE_AMBI: int = 4

surrounding light.

Type:

Mode number

MODE_COLOR: int = 0

detected color.

Type:

Mode number

MODE_DIST: int = 1

distance.

Type:

Mode number

MODE_IR: int = 7

infrared remote-control signals.

Type:

Mode number

MODE_LED: int = 5

the sensor’s light color.

Type:

Mode number

MODE_REFLT: int = 3

reflected light.

Type:

Mode number

MODE_RGB: int = 6

r, g, b = sensor.getRgb().

Type:

Red, green and blue amounts

class lpf2.devices.color_sensor

The Technic Color Sensor: sees colors and how much light bounces back.

All its readings are kept up to date at the same time, so you can call any of the get… functions whenever you like.

getColorIdx() → int

The color it sees, as a number from lpf2.color (e.g. compare with color.RED).

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

getHSV() → tuple[int, int, int]

The color as hue (0..360, the color wheel angle), saturation (0..100) and value/brightness: h, s, v = sensor.getHSV().

getRGB() → tuple[int, int, int, int]

How much red, green and blue it sees, plus overall brightness: r, g, b, i = sensor.getRGB().

getReflectivity() → float

How much light bounces back from the surface, 0..100 %. White paper is high, black is low.

name() → str

The device’s name as text, e.g. "Technic Color Sensor".

setLight(l1: int, l2: int, l3: int) → None

Set the brightness of the sensor’s three lights, each 0..100 %.

setMode(modeNum: int, delta: float = 1.0) → None

Advanced: choose which value the sensor reports (one of the MODE_… numbers).

MODE_AMBI: int = 2

surrounding light (0..100 %).

Type:

Mode number

MODE_COLOR: int = 0

detected color.

Type:

Mode number

MODE_HSV: int = 6

hue, saturation and value.

Type:

Mode number

MODE_LIGHT: int = 3

the sensor’s own lights.

Type:

Mode number

MODE_REFLT: int = 1

reflected light (0..100 %).

Type:

Mode number

MODE_RGB: int = 5

red, green, blue and brightness.

Type:

Mode number

class lpf2.devices.distance_sensor

The Technic Distance Sensor (the one with two “eyes”): measures how far away things are.

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

getDistance() → float

How far away the nearest object is, in centimeters.

name() → str

The device’s name as text, e.g. "Technic Distance Sensor".

setLight(l1: int, l2: int, l3: int, l4: int) → None

Set the brightness of the four lights around the eyes, each 0..100 %.

setMode(modeNum: int, delta: float = 1.0) → None

Advanced: choose which value the sensor reports (one of the MODE_… numbers).

MODE_LIGHT: int = 5

the lights around the eyes.

Type:

Mode number

class lpf2.devices.encoder_motor

A motor with a rotation sensor (most Technic and BOOST motors).

It can hold a steady speed, turn an exact number of degrees, or go to a position.

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

gotoAbsPosition(absPos: int, speed: int = 100, maxPower: int = 100, endState: int = 0, useProfile: int = 0) → None

Turn to position absPos degrees, then stop.

Position 0 is set with presetEncoder(). endState: 0 = coast, 127 = brake, 126 = hold position.

name() → str

The device’s name as text, e.g. "Motor with Encoder".

presetEncoder(pos: int) → None

Stop the motor and call its current position pos degrees (usually 0).

setAccTime(time: int, profile: int) → None

How long (ms) the motor takes to speed up, stored in slot profile (0..15).

setDecTime(time: int, profile: int) → None

How long (ms) the motor takes to slow down, stored in slot profile (0..15).

startPower(pw: int) → None

Run the motor at a power from -100 to 100. The sign sets the direction; 0 stops.

startSpeed(speed: int = 100, maxPower: int = 100, useProfile: int = 0) → None

Keep turning at speed (-100..100) until told otherwise. maxPower (0..100) limits how hard it pushes.

startSpeedForDegrees(degrees: int, speed: int = 100, maxPower: int = 100, endState: int = 0, useProfile: int = 0) → None

Turn by degrees (360 = one full turn), then stop.

Make speed negative to turn the other way. endState: 0 = coast, 127 = brake, 126 = hold position.

startSpeedForTime(time: int, speed: int = 100, maxPower: int = 100, endState: int = 0, useProfile: int = 0) → None

Turn at speed for time milliseconds, then stop.

endState: 0 = coast, 127 = brake, 126 = hold position.

class lpf2.devices.gyroscope

The hub’s built-in gyroscope (hub.gyro): measures how fast the hub spins, in degrees per second.

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

getX() → float

Spin speed around the x direction, degrees per second.

getY() → float

Spin speed around the y direction, degrees per second.

getZ() → float

Spin speed around the z direction, degrees per second.

name() → str

The device’s name as text, e.g. "Hub Gyroscope".

class lpf2.devices.hub_led

A hub’s built-in colored light (hub.led).

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

name() → str

The device’s name as text, e.g. "Hub LED".

setColor(r: int, g: int, b: int) → None

Set the light to any color by mixing red, green and blue, each 0..255. setColor(0, 0, 0) is off.

setColorIdx(color: int) → None

Set the light to a named color from lpf2.color, e.g. hub.led.setColorIdx(color.GREEN).

class lpf2.devices.port_expander

A Port Expander: plugs into one port and gives you four more.

getDeviceType() → int

A number saying what kind of device this is (see lpf2.device_type).

getPort(port_num: int) → lpf2.port

One of the expander’s four ports, numbered 0..3 (see lpf2.port_expander.port_num).

It works just like hub.ports.A.

name() → str

The device’s name as text, e.g. "Port Expander".

lpf2.devices.registerDefault() → None

Advanced: teach the hub about the standard LEGO devices again.

This already happens automatically; you never need to call it.