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‎README.md

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```
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./gradlew -t asciidoctor
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```
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```
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./gradlew livereload &
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```
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python -m SimpleHTTPServer 8000 &
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```
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‎src/main/asciidoc/actuators/index.adoc

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‎src/main/asciidoc/sensors/battery/BatteryDemo.java

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package ev3dev.sensors;
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import lejos.utility.Delay;
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public class BatteryDemo {
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public static void main(String[] args) {
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final Battery battery = Battery.getInstance();
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for(int x = 0; x < 20; x++){
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System.out.println("Battery Voltage: " + battery.getVoltage());
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Delay.msDelay(1000);
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}
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}
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}

‎src/main/asciidoc/sensors/battery/ev3-battery.jpg

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‎src/main/asciidoc/sensors/battery/index.adoc

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# Battery
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# Introduction
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Every Brick has a way to detect the voltage of the Battery.
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image:ev3-battery.jpg[image]
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## How to use the sensor
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### Read the voltage
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[source,java]
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----
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include::BatteryDemo.java[]
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----

‎src/main/asciidoc/sensors/ev3-gyro-sensor/ev3_gyro_sensor.adoc

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# EV3 Gyro sensor
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## Introduction
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The digital EV3 Gyro Sensor measures the robot’s rotational motion and changes in its orientation.
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image:ev3_gyro_sensor.png[image]
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. Dual-mass, vibratory MEMS gyroscope offers superior vibration rejection over a wide frequency range. The dual-mass design inherently rejects any signal caused by linear acceleration.
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. 10,000 g shock tolerance The Rate-Out of the gyro is not ratiometric to the supply voltage. The scale factor is calibrated at the chip foundry and is nominally independent of supply voltage.
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Example1: Turn your robot using a EV3 Gyro sensor.
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## How to use the sensor
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image:ev3_gyro_sensor_example1.png[image]
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### Read the angle
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[source,java]
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----
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include::./GyroSensorDemo.java[]
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----
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### Use the rate mode
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[source,java]
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----
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include::./GyroSensorDemo2.java[]
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----
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### Detect that your robot turn 90 degrees
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[source,java]
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----
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include::./GyroSensorDemo3.java[]

‎src/main/asciidoc/sensors/ev3-light-sensor/ev3_light_sensor.adoc

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= EV3 Light sensor
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# EV3 Light sensor
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## Introduction
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The digital EV3 Color Sensor distinguishes between eight different colors.
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It also serves as a light sensor by detecting light intensities.
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Students can build color sorting and line-following robots, experiment with light reflection of different colors,
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* Minimum: 0, Black
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* Maximum: 100, White
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*How to use the sensor*
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Example 1: Measure the reflected light intensity from the EV3 light sensor.
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## How to use the sensor
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image:./ev3_light_sensor_example1.png[image]
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### Measure the reflected light intensity from the EV3 light sensor.
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[source,java]
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----

‎src/main/asciidoc/sensors/ev3-motors/ev3_large_motor.adoc

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# EV3 Motor sensor features
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## Introduction
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A EV3 large motor has an internal encoder to know in what state is the motor.
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image:ev3_large_motor.png[image]
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## How to use the sensor
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### Read the state of the motor
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image:ev3_large_motor_example1.png[image]
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++++
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<script>
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(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
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(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
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m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
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})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
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ga('create', 'UA-343143-18', 'auto');
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ga('send', 'pageview');
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</script>
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++++

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‎src/main/asciidoc/sensors/index.adoc

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A human being receives signals continuously from his 5 senses (sight, hearing, taste, smell and touch)
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and that stream of data are processed or discarded by the Brain.
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image:./humanSenses.png[image]
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image:images//humanSenses.png[image]
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With a Robot occurs the same, when you plug a sensor in the brick, your program is able to process
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a new kind of data from the environment.
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* link:ev3-gyro-sensor/ev3_gyro_sensor.html[EV3 Gyro sensor]
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* link:ev3_large_motor.html[EV3 Lego Large Motor state]
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* link:battery.html[Battery Sensor]
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* link:battery/index.html[Battery Sensor]
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## Source of sensors
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* link:ev3-ir-sensor/ev3_ir_sensor.html[EV3 Infrared sensor] x1
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* link:ev3-touch-sensor/ev3_touch_sensor.html[EV3 Touch sensor] x1
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* link:ev3-light-sensor/ev3_light_sensor.html[EV3 Light sensor] x1
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* link:ev3_large_motor.html[EV3 Large Motor state] x2
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* link:ev3_medium_motor.html[EV3 Medium Motor state] x1
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* link:battery.html[Battery Sensor]
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* link:ev3-motors/ev3_large_motor.html[EV3 Lego Large Motor state] x2
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* link:ev3-motors/ev3_medium_motor.html[EV3 Medium Motor state] x1
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* link:battery/index.html[Battery Sensor]
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image:./31313.png[image]
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image:images/31313.png[image]
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### LEGO 45544 Kit
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* link:ev3-touch-sensor/ev3_touch_sensor.html[EV3 Touch sensor] x2
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* link:ev3-light-sensor/ev3_light_sensor.html[EV3 Light sensor] x1
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* link:ev3-gyro-sensor/ev3_gyro_sensor.html[EV3 Gyro sensor] x1
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* link:ev3_large_motor.html[EV3 Lego Large Motor state] x2
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* link:ev3_medium_motor.html[EV3 Medium Motor state] x1
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* link:battery.html[Battery Sensor]
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* link:ev3-motors/ev3_large_motor.html[EV3 Lego Large Motor state] x2
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* link:ev3-motors/ev3_medium_motor.html[EV3 Medium Motor state] x1
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* link:battery/index.html[Battery Sensor]
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image:./45544.png[image]
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image:images//45544.png[image]
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### Dexter Industries BrickPi3/BrickPi+
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### Dexter Industries BrickPi
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The Kit includes the following sensors:
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* link:battery.html[Battery Sensor]
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* link:battery/index.html[Battery Sensor]
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* Grove Adapter (Only for BrickPi3)
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image:./brickpi3.jpg[image]
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image:images//brickpi3.jpg[image]
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### Mindsensors PiStorms
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The Kit includes the following sensors:
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* link:battery.html[Battery Sensor]
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* link:battery/index.html[Battery Sensor]
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image:./pistorms-v2.jpg[image]
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image:images//pistorms-v2.jpg[image]
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### Mindsensors Sensors
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### USB Webcams
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USB Cameras is another way to measure the world.
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Using OpenCV, it is possible to manage a webcam with Java.
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image:./logitech-webcam.png[image]
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* link:usb-webcam/index.html[OpenCV & Webcams]
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image:images/logitech-webcam.png[image]
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### Grove Sensors
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Grove System, offer a rich set of sensors to measure the environment.
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image:./grove-system.jpg[image]
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image:images/grove-system.jpg[image]
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The sensors are possible to connect with your brick in the following ways:
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* PiStorms V2: Using the Mindsensors Grove Sensor Adapter for EV3
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* BrickPi 3: It is possible to connect a sensor directly.
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image:images/ev3-grove-sensor-adapter.jpg[image]
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* 2D LIDAR RPlidar A1
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* link:usb-rplidar/index.html[2D LIDAR RPlidar A1]
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* 2D LIDAR RPlidar A2
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RPLIDAR is a low cost 360 degree 2D laser scanner (LIDAR) solution
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developed by RoboPeak. The system can perform 360 degree scan within
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6 meter range. The produced 2D point cloud data can be used in mapping,
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localization and object/environment modeling.
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image:./slamtec-rplidar-a2.png[image]
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image:images/slamtec-rplidar-a2.png[image]
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‎src/main/asciidoc/sensors/usb-rplidar/Demo3.java

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package examples;
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import ev3dev.sensors.slamtec.RPLidarA1;
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import ev3dev.sensors.slamtec.RPLidarProviderListener;
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import ev3dev.sensors.slamtec.model.Scan;
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public class Demo3 {
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public static void main(String[] args) throws Exception {
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System.out.println("Testing RPLidar");
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final String USBPort = "/dev/ttyUSB0";
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final RPLidarA1 lidar = new RPLidarA1(USBPort);
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lidar.init();
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lidar.addListener(new RPLidarProviderListener() {
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@Override
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public void scanFinished(Scan scan) {
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System.out.println("Measures: " + scan.getDistances().size());
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scan.getDistances()
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.stream()
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.filter((measure) -> measure.getQuality() > 10)
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.filter((measure) -> (measure.getAngle() >= 345 || measure.getAngle() <= 15))
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.filter((measure) -> measure.getDistance() <= 50)
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.forEach(System.out::println);
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}
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});
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for(int x = 0; x <= 10; x++) {
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lidar.scan();
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}
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lidar.close();
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System.out.println("End");
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System.exit(0);
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}
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}

‎src/main/asciidoc/sensors/usb-rplidar/index.adoc

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# 2D LIDAR RPLIDAR
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## Introduction
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RPLIDAR is a low cost 360 degree 2D laser scanner (LIDAR) solution
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developed by RoboPeak. The system can perform 360 degree scan within
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6 meter range. The produced 2D point cloud data can be used in mapping,
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localization and object/environment modeling.
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image:slamtec-rplidar-a2.png[image]
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## How to use the sensor
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### Detect obstacles in the range 345º to 15º
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[source,java]
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----
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include::Demo3.java[]
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----

‎src/main/asciidoc/sensors/usb-rplidar/slamtec-rplidar-a2.png

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‎src/main/asciidoc/sensors/usb-webcam/OpenCVTest.java

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package opencv;
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import org.opencv.core.Core;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfByte;
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import org.opencv.highgui.Highgui;
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import org.opencv.highgui.VideoCapture;
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public class OpenCVTest {
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static final int READ_IMAGE_CNT = 1000;
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static final int ENCODE_IMAGE_CNT = 1000;
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VideoCapture vid;
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Mat camImage = new Mat();
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void init()
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{
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vid = new VideoCapture(0);
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//vid.set(Highgui.CV_CAP_PROP_FRAME_WIDTH, 160);
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//vid.set(Highgui.CV_CAP_PROP_FRAME_HEIGHT, 120);
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//vid.open(0);
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vid.read(camImage);
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System.out.println("Image size is: " + camImage.cols() + "x" + camImage.rows());
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}
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void captureTest()
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{
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System.out.println("capture test read " + READ_IMAGE_CNT + " images");
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long start = System.currentTimeMillis();
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for(int i = 0; i < READ_IMAGE_CNT; i++)
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vid.read(camImage);
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double time = (double)(System.currentTimeMillis() - start)/1000;
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System.out.println("Time is " + time + " = " + (READ_IMAGE_CNT/time) + "fps");
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}
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void encodeTest()
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{
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System.out.println("Encoding image as jpeg " + ENCODE_IMAGE_CNT + " images");
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MatOfByte buf = new MatOfByte();
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long start = System.currentTimeMillis();
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for(int i = 0; i < READ_IMAGE_CNT; i++)
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Highgui.imencode(".jpg", camImage, buf);
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double time = (double)(System.currentTimeMillis() - start)/1000;
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System.out.println("Time is " + time + " = " + (READ_IMAGE_CNT/time) + "fps");
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}
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public static void main(String[] args) {
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// Load the native library.
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System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
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OpenCVTest test = new OpenCVTest();
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test.init();
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test.captureTest();
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test.encodeTest();
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}
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}

‎src/main/asciidoc/sensors/usb-webcam/index.adoc

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# USB Webcam
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## Introduction
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image:logitech-webcam.png[image]
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## How to use the sensor
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[source,java]
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----
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include::OpenCVTest.java[]
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----

‎src/main/asciidoc/sensors/usb-webcam/logitech-webcam.png

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