Color Blob and Line Tracking

Import KOI 2 Library

from future import *
from koi2 import KOI2

Serial Initialization

koi = KOI2(tx, rx)

Initializes the serial connection to KOI.

Parameters:

tx: TX Pin, use P2 for Robotbit EDU

rx: RX Pin, use P12 for Robotbit EDU

Select Color Blob Tracking Mode

koi.setModel(16)

Sets the KOI mode to Color Blob Tracking.

Set Color to Track

koi.colorSwitch(color)

Parameters:

color: Color to track

color	meaning
0	Red
1	Green
2	Blue
3	Yellow
9	Custom(requires calibration)

Calibrate Custom Color

koi.colorCalibration()

Calibrates KOI to track a custom color.

Get Color Blob Data

koi.xywh[0]

Returns data for the tracked color blob.

Parameters:

data: The type of data to return.

data	Meaning
0	X coordinates
1	Y coordinates
2	Width of blob
3	Height of blob

Sample Program: Color Blob Tracking

from future import *
from koi2 import KOI2



koi = KOI2('P2', 'P12')
koi.setModel(16)
screen.sync = 0
while True:
  koi.read_from_uart()
  if sensor.btnValue('a'):
    koi.colorSwitch(0)
  if sensor.btnValue('b'):
    koi.colorCalibration()
    koi.colorSwitch(9)
  screen.fill((0, 0, 0))
  screen.text(koi.xywh[0],5,10,1,(255, 255, 255))
  screen.text(koi.xywh[1],5,30,1,(255, 255, 255))
  screen.text(koi.xywh[2],5,50,1,(255, 255, 255))
  screen.text(koi.xywh[3],5,70,1,(255, 255, 255))
  screen.refresh()

509B

Color Blob Tracking.py

Select Line Tracking Mode

koi.setModel(32)

Sets the KOI mode to Color Blob Tracking.

Set Color to Track

koi.lineSwitch(color)

Parameters:

color: Color to track

color	meaning
0	Red
1	Green
2	Blue
3	Yellow
9	Custom(requires calibration)

Calibrate Custom Color

koi.colorCalibration()

Calibrates KOI to track a custom color.

Get Line Data

koi.xy12[data]

Returns data for the tracked line.

Parameters:

data: The type of data to return.

data	Meaning
0	X1 coordinates
1	Y1 coordinates
2	X2 coordinates
3	Y2 coordinates

Sample Program: Line Tracking

from future import *
from koi2 import KOI2



koi = KOI2('P2', 'P12')
koi.setModel(32)
screen.sync = 0
while True:
  koi.read_from_uart()
  if sensor.btnValue('a'):
    koi.lineSwitch(3)
  if sensor.btnValue('b'):
    koi.colorCalibration()
    koi.lineSwitch(4)
  screen.fill((0, 0, 0))
  screen.text(koi.xy12[0],5,10,1,(255, 255, 255))
  screen.text(koi.xy12[1],5,30,1,(255, 255, 255))
  screen.text(koi.xy12[2],5,50,1,(255, 255, 255))
  screen.text(koi.xy12[3],5,70,1,(255, 255, 255))
  screen.refresh()

507B

Line Tracking.py