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Vision Sensor (WRO Edition, HUE12) × MATRIX Mini R4

Back to Vision Sensor (WRO Edition, HUE12)

On MATRIX the Vision Sensor (WRO Edition, HUE12) talks over serial and is read with the built-in mVision camera blocks (not I2C).

SPIKEEV3Arduino I2CmBlockMATRIXmicro:bit

mVision data slots

mVision packet
Slot Value Range Meaning
0 spot 1~12 colour code 0~255 不動：byte 011 = S1S12 顏色碼各 1 byte（idx 0 = S1 低 byte／S2 高 byte … idx 5 = S11／S12）；照 HUE12_AS_mVisionSensor_v1.0.8.mbr4 解碼；101B = colour code of spots S1S12: 0239 colour (hue 0255 scaled to 0239), 240245 white (saturation < 30, lower = larger), 246~250 black (value < 30, darker = larger), 255 = spot not enabled
6 spot 1~12 vividness 0~255 不動：byte 1217 = 12 格各 4 bit（S>>4，115；黑 = 1；沒抓到 = 0），byte 12+2j = S(4j+1) | S(4j+2)<<4、byte 13+2j = S(4j+3) | S(4j+4)<<4；202B = vividness (saturation) of spots S1S12, 0~255: black = 1, white/colour = actual saturation; 0 when the spot is not enabled

[0xAA][N][N 個 uint16 小端][xor]，xor = AA ^ N ^ 所有資料 byte；N ≤ 10（MATRIXblock 只宣告 CamData[10]）；學校版每 20 ms 一包

Sources and assumptions

Generated by _build/gen-reference.mjs from _build/protocol/cam_wro.json (single source of truth, transcribed from the 2026-10-21 protocol decisions).

  • hw0 = 2（共識 #6：神攝手 2 = WRO 版）；model = HUE12（樂高模式名）。
  • I2C 0x4C 與學校版同一位址（主機用 F0 高 byte 1／2 分辨）；D4：SDA = IO3、SCL = IO1，與 EV3／SPIKE 串口模式二選一編譯；ESP32 從機 onReceive 預載 32 B；上機待測。mBlock 用 Serial.begin(38400, SERIAL_8N1, 3, 1)。
  • 值表只有 101B、202B（mBlock 定案）；兩群各 12 個，I2C 一次連續讀 12 個值（24 B）剛好一群。
  • EV3／SPIKE 只有一個模式 HUE12（type 95，動態描述表 DATA32×8），鎖住照盤點 §0-2 排法；沒有 ID 模式（type 95 只宣告 1 個模式，不加）。
  • mVision 鎖住照盤點 §4：[0xAA][9][18 B][xor]，byte 011 顏色碼、1217 鮮豔度 4 bit；WRO 隊伍的 HUE12_AS_mVisionSensor_v1.0.8.mbr4 在用，不動；B-6：不節流（每圈 loop 送）。
  • mVision 的鮮豔度是 S>>4（015），值表 202B 是完整 0~255；兩者不同是既有設計，不改。
  • 顏色碼 255 只代表「色點沒開」，不代表「沒找到」（沒抓到時仍回種子點顏色，盤點 §0-1）。
  • 不做 0x22（hosts.matrix = false）；沒有寫入命令；F3 只有 b0。
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