Camera Self Driving

Instance declaration

When you add a Camera Self Driving block to the workspace, the following instance declaration is automatically inserted into the Python code:

self_driving = SelfDriving(0)
# When there are multiple instances
self_driving_1 = SelfDriving(1)

Parameters

Name	Kind	Description	Range / Type	Default
index	Dropdown option	Instance number (starting from 0)	Integer 0 or greater	0

Select the camera device

Sets the camera to use for camera self driving.

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Camera device name	System camera label	-

Python

self_driving = SelfDriving(0)

self_driving.device('')

Set the lane colors

Sets the color of the left and right lanes.

Parameters

Name	Kind	Description	Range / Type	Default
left	Dropdown option	Left lane color	red, green, blue	-
right	Dropdown option	Right lane color	red, green, blue	-

Python

self_driving = SelfDriving(0)

self_driving.set_lane('green', 'blue')

Detect once

Finds the selected colors/lanes on the screen and marks their regions just once.

Parameters

(none)

Python

self_driving = SelfDriving(0)

self_driving.detect_once()

Start / stop continuous detection

Keeps following the screen for the selected colors/lanes and marks their regions on the screen.

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Action	start, stop	-

Python

self_driving = SelfDriving(0)

# unit = "start"
self_driving.detect_continuous()
# unit = "stop"
self_driving.stop()

Show the detection result

Decides whether or not to show the color/lane detection result on the camera screen.

Parameters

Name	Kind	Description	Range / Type	Default
on	Dropdown option	Display ON / OFF	show (on=True), hide (off=False)	TRUE

Python

self_driving = SelfDriving(0)

self_driving.display(True)
self_driving.display(False)

Lane data

Returns the position or distance value of the specified lane.

Parameters

Name	Kind	Description	Range / Type	Default
lane	Dropdown option	Lane	left, right	-
unit	Dropdown option	Kind of measurement	x, distance	-

Python

self_driving = SelfDriving(0)

self_driving.lane('left', 'x')
self_driving.lane('right', 'distance')

Color data

Returns the position/size values of the specified color.

Parameters

Name	Kind	Description	Range / Type	Default
color	Dropdown option	Color name	red, green, blue	-
unit	Dropdown option	Kind of coordinate/size	x, y, min_x, max_x, min_y, max_y, width, height, area	-

Python

self_driving = SelfDriving(0)

self_driving.color('red', 'x')
self_driving.color('green', 'y')
self_driving.color('blue', 'area')

Distance between two colors

Returns the distance between two colors.

Parameters

Name	Kind	Description	Range / Type	Default
unit1	Dropdown option	First color	red, green, blue	-
unit2	Dropdown option	Second color	red, green, blue	-
type	Dropdown option	Kind of distance	distance (omitted or None), horizontal distance (horizontal), vertical distance (vertical)	None

Python

self_driving = SelfDriving(0)

self_driving.get_distance('red', 'blue')  # distance
self_driving.get_distance('green', 'blue', 'horizontal')  # horizontal distance

Whether a lane was detected

Whether a particular lane was found

Parameters

Name	Kind	Description	Range / Type	Default
lane	Dropdown option	Lane	left, right, both, any	any

Python

self_driving = SelfDriving(0)

self_driving.lane_detected('left')

Whether a color was detected

Whether a particular color region was found

Parameters

Name	Kind	Description	Range / Type	Default
color	Dropdown option	Color name	red, green, blue, any	any

Python

self_driving = SelfDriving(0)

self_driving.color_detected('red')