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EV3 beginner examples: TOF8 eight-direction laser

Back to the TOF8 eight-direction laser product page

This page has 6 examples for people who have never written a program: every example comes with a ready-made program file you can download and run, plus a plain-language step-by-step explanation. Start with example 1 and work through in order.

Before you start

Use the EV3 edition of the sensor (RJ12 plug), plugged into port 1 of the EV3.
Turn the EV3 on first, then plug in the sensor. If the number never changes, unplug the sensor and plug it back in.
Examples that drive use the LEGO Education base robot: left wheel motor on B, right wheel motor on C.
The sensor shows up on the EV3 as an "Infrared Sensor". That is normal: read its values with the infrared sensor blocks.

Every example comes in 5 software versions; pick the one you use: (examples marked "Pybricks / EV3 MicroPython / clev3r only" come in those 3 versions only, because the EV3-G and Classroom blocks cannot read that mode)

Software	Who it suits	How to open the example file
EV3-G (official software)	School computer labs, WRO teams (the most common in Taiwan)	Download the `.ev3` file, choose "File → Open Project" in the EV3 software, then "Download and Run" at the bottom right.
EV3 Classroom	First time with EV3, want the same blocks as SPIKE	Download the `.lmsp` file, choose "Open" on the EV3 Classroom home screen, connect the EV3 and press "Download and Run" at the bottom right.
Pybricks v4	Want to learn typed code, works in the browser	Open code.pybricks.com in Chrome; the EV3 needs the Pybricks firmware first (currently Beta). Drag the `.py` file into the editor and press Run.
EV3 MicroPython v2.0	Already using the official LEGO EV3 MicroPython	Use the official LEGO "EV3 MicroPython" microSD boot card + the VS Code extension; paste the program into `main.py` and press F5 to download and run.
clev3r	Already using clev3r (EV3 Basic)	Open the `.bp` file in clev3r, press "Compile and download", then run it from the `MBC_` folder in the EV3 file browser.

The 13 values used on this page

Name	Range	Where it comes from
Straight-ahead distance (average of lasers 4 and 5)	0 ~ 100 (1 unit = 1.2 cm, 100 = nothing ahead)	Mode 0
Distance of laser 1	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 1
Distance of laser 2	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 2
Distance of laser 3	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 3
Distance of laser 4	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 4
Distance of laser 5	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 5
Distance of laser 6	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 6
Distance of laser 7	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 7
Distance of laser 8	0 ~ 100 (1 unit = 1.2 cm)	Mode 1, value 8
Distance of the nearest object	0 ~ 100	Mode 2, value 2
Direction of the nearest object	-7 ~ +7 (negative = left, positive = right, around 0 = straight ahead; ±8 = nothing)	Mode 2, value 1
Most open direction	-7 ~ +7 (negative = left, positive = right)	Mode 2, value 3
Distance of the nearest object (mm)	0 ~ 1200 mm	Mode 5, value 1 (Pybricks / EV3 MicroPython / clev3r only)

Example list:

Measure the distance straight ahead
Stop 30 cm before the wall
See all 8 directions at once
Sumo chaser: turn towards the nearest object and charge
Drive towards the most open direction
Where is the nearest object, and how many millimetres away (Pybricks / EV3 MicroPython / clev3r only)

Example 1: Measure the distance straight ahead

What this example does: Mode 0 of the eight-direction laser gives the average distance straight ahead (the middle two lasers): the simplest value to use.

What you need:

TOF8 eight-direction laser (EV3 edition)
EV3 brick

How to connect: TOF8 eight-direction laser in port 1.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

(Too small? Click the picture to open it full size.)

Pybricks v4 code

# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 01：量量看正前方有多遠
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：TOF8 八方位雷射插 1 號孔
# 這個範例會做什麼：八方位雷射的模式 0 會給你正前方（中間兩顆）的平均距離，最簡單好用。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # TOF8 八方位雷射插 1 號孔


def read_front():
    # 正前方（第 4、5 顆平均）距離：0 ~ 100（1 格＝1.2 公分，100＝前面沒東西）
    return sensor.read(0)[0]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 第 1 行顯示正前方距離（0~100）
    ev3.screen.draw_text(0, 0, "FRONT " + str(read_front()) + "      ", Color.BLACK, Color.WHITE)
    # 第 2 行換算成公分：× 1.2
    ev3.screen.draw_text(0, 16, "CM " + str(read_front() * 1.2) + "      ", Color.BLACK, Color.WHITE)
    # 等 0.1 秒
    wait(100)

EV3 MicroPython v2.0 code

#!/usr/bin/env pybricks-micropython
# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 01：量量看正前方有多遠
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：TOF8 八方位雷射插 1 號孔
# 這個範例會做什麼：八方位雷射的模式 0 會給你正前方（中間兩顆）的平均距離，最簡單好用。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # TOF8 八方位雷射插 1 號孔


def read_front():
    # 正前方（第 4、5 顆平均）距離：0 ~ 100（1 格＝1.2 公分，100＝前面沒東西）
    return sensor.read('IR-PROX')[0]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 第 1 行顯示正前方距離（0~100）
    ev3.screen.draw_text(0, 0, "FRONT " + str(read_front()) + "      ", Color.BLACK, Color.WHITE)
    # 第 2 行換算成公分：× 1.2
    ev3.screen.draw_text(0, 16, "CM " + str(read_front() * 1.2) + "      ", Color.BLACK, Color.WHITE)
    # 等 0.1 秒
    wait(100)

clev3r code

' ============================================================
' TOF8 八方位雷射測距感應器 EV3 新手範例 01：量量看正前方有多遠
' 軟體：clev3r
' 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：八方位雷射的模式 0 會給你正前方（中間兩顆）的平均距離，最簡單好用。
' 讀值：front＝正前方（第 4、5 顆平均）距離（0 ~ 100（1 格＝1.2 公分，100＝前面沒東西））
' ============================================================
folder "prjs" "MBC_tof8_ex01"

' TOF8 八方位雷射插 1 號孔，使用模式 0
Sensor.SetMode(1, 0)
LCD.Clear()

' 清除螢幕
LCD.Clear()
' 一直重複
While "True"
  ' 第 1 行顯示正前方距離（0~100）
  LCD.Text(1, 0, 0, 1, "FRONT " + Sensor.ReadRawValue(1, 0) + "      ")
  ' 第 2 行換算成公分：× 1.2
  LCD.Text(1, 0, 16, 1, "CM " + Sensor.ReadRawValue(1, 0) * 1.2 + "      ")
  ' 等 0.1 秒
  Program.Delay(100)
EndWhile

Step by step:

Clear the screen
Repeat forever
- Row 1 shows the straight-ahead distance (0~100)
- Row 2 converts to centimetres: × 1.2
- Wait 0.1 s

What you should see: Move your hand in front and the number follows; with nothing ahead it reads 100.

FAQ:

The number does not match a ruler? On EV3, 1 unit = 1.2 cm (for example 25 = 30 cm); 100 means nothing within 120 cm ahead.
The number stays at 0 or never changes? Turn the EV3 on before plugging in the sensor, or unplug and plug it back in; make sure there is no protective film over the laser.

Example 2: Stop 30 cm before the wall

What this example does: The robot drives forward and stops when something is within 30 cm (value 25) straight ahead.

What you need:

EV3 brick + Education base robot (left wheel on B, right wheel on C)
TOF8 eight-direction laser (EV3 edition)
A few boxes as obstacles

How to connect: TOF8 eight-direction laser in port 1, mounted at the front with lasers 4 and 5 facing straight ahead, about 5 cm above the ground.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

(Too small? Click the picture to open it full size.)

Pybricks v4 code

# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 02：前方 30 公分停車
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：車子往前開，正前方 30 公分（數字 25）以內有東西就停下來。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # TOF8 八方位雷射插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_front():
    # 正前方（第 4、5 顆平均）距離：0 ~ 100（1 格＝1.2 公分，100＝前面沒東西）
    return sensor.read(0)[0]


# ---------- 程式從這裡開始 ----------
# 兩輪往前開
left_motor.dc(30)
right_motor.dc(30)
# 等到正前方距離小於 25
while not (read_front() < 25):
    wait(10)
# 停車
left_motor.brake()
right_motor.brake()
# 嗶一聲
ev3.speaker.beep()

EV3 MicroPython v2.0 code

#!/usr/bin/env pybricks-micropython
# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 02：前方 30 公分停車
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：車子往前開，正前方 30 公分（數字 25）以內有東西就停下來。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # TOF8 八方位雷射插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_front():
    # 正前方（第 4、5 顆平均）距離：0 ~ 100（1 格＝1.2 公分，100＝前面沒東西）
    return sensor.read('IR-PROX')[0]


# ---------- 程式從這裡開始 ----------
# 兩輪往前開
left_motor.dc(30)
right_motor.dc(30)
# 等到正前方距離小於 25
while not (read_front() < 25):
    wait(10)
# 停車
left_motor.brake()
right_motor.brake()
# 嗶一聲
ev3.speaker.beep()

clev3r code

' ============================================================
' TOF8 八方位雷射測距感應器 EV3 新手範例 02：前方 30 公分停車
' 軟體：clev3r
' 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：車子往前開，正前方 30 公分（數字 25）以內有東西就停下來。
' 讀值：front＝正前方（第 4、5 顆平均）距離（0 ~ 100（1 格＝1.2 公分，100＝前面沒東西））
' ============================================================
folder "prjs" "MBC_tof8_ex02"

' TOF8 八方位雷射插 1 號孔，使用模式 0
Sensor.SetMode(1, 0)
LCD.Clear()

' 兩輪往前開
Motor.StartPower("B", 30)
Motor.StartPower("C", 30)
' 等到正前方距離小於 25
While Sensor.ReadRawValue(1, 0) >= 25
  Program.Delay(10)
EndWhile
' 停車
Motor.Stop("BC", "True")
' 嗶一聲
Speaker.Tone(50, 1000, 100)
Speaker.Wait()

Step by step:

Both wheels drive forward
Wait until the straight-ahead distance is less than 25
Stop
Beep

What you should see: The robot stops about 30 cm from the obstacle and beeps.

FAQ:

The number does not match a ruler? On EV3, 1 unit = 1.2 cm (for example 25 = 30 cm); 100 means nothing within 120 cm ahead.

Example 3: See all 8 directions at once

What this example does: Mode 1 sends the distance of each of the 8 lasers. This example shows all 8 numbers on the screen; wave your hand around and you will know which laser points where.

What you need:

TOF8 eight-direction laser (EV3 edition)
EV3 brick

How to connect: TOF8 eight-direction laser in port 1.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

(Too small? Click the picture to open it full size.)

Pybricks v4 code

# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 03：一次看 8 個方向的距離
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：TOF8 八方位雷射插 1 號孔
# 這個範例會做什麼：模式 1 會一次送出 8 顆雷射各自的距離。這個範例把 8 個數字都顯示在螢幕上，拿手在四周晃一晃，就知道每顆雷射對應哪個方向。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # TOF8 八方位雷射插 1 號孔


def read_d1():
    # 第 1 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[0]


def read_d2():
    # 第 2 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[1]


def read_d3():
    # 第 3 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[2]


def read_d4():
    # 第 4 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[3]


def read_d5():
    # 第 5 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[4]


def read_d6():
    # 第 6 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[5]


def read_d7():
    # 第 7 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[6]


def read_d8():
    # 第 8 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read(1)[7]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 第 1 行顯示第 1 顆雷射的距離
    ev3.screen.draw_text(0, 0, "D1 " + str(read_d1()) + "      ", Color.BLACK, Color.WHITE)
    # 第 2 行顯示第 2 顆雷射的距離
    ev3.screen.draw_text(0, 16, "D2 " + str(read_d2()) + "      ", Color.BLACK, Color.WHITE)
    # 第 3 行顯示第 3 顆雷射的距離
    ev3.screen.draw_text(0, 32, "D3 " + str(read_d3()) + "      ", Color.BLACK, Color.WHITE)
    # 第 4 行顯示第 4 顆雷射的距離
    ev3.screen.draw_text(0, 48, "D4 " + str(read_d4()) + "      ", Color.BLACK, Color.WHITE)
    # 第 5 行顯示第 5 顆雷射的距離
    ev3.screen.draw_text(0, 64, "D5 " + str(read_d5()) + "      ", Color.BLACK, Color.WHITE)
    # 第 6 行顯示第 6 顆雷射的距離
    ev3.screen.draw_text(0, 80, "D6 " + str(read_d6()) + "      ", Color.BLACK, Color.WHITE)
    # 第 7 行顯示第 7 顆雷射的距離
    ev3.screen.draw_text(0, 96, "D7 " + str(read_d7()) + "      ", Color.BLACK, Color.WHITE)
    # 第 8 行顯示第 8 顆雷射的距離
    ev3.screen.draw_text(0, 112, "D8 " + str(read_d8()) + "      ", Color.BLACK, Color.WHITE)
    # 等 0.1 秒
    wait(100)

EV3 MicroPython v2.0 code

#!/usr/bin/env pybricks-micropython
# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 03：一次看 8 個方向的距離
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：TOF8 八方位雷射插 1 號孔
# 這個範例會做什麼：模式 1 會一次送出 8 顆雷射各自的距離。這個範例把 8 個數字都顯示在螢幕上，拿手在四周晃一晃，就知道每顆雷射對應哪個方向。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # TOF8 八方位雷射插 1 號孔


def read_d1():
    # 第 1 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[0]


def read_d2():
    # 第 2 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[1]


def read_d3():
    # 第 3 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[2]


def read_d4():
    # 第 4 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[3]


def read_d5():
    # 第 5 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[4]


def read_d6():
    # 第 6 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[5]


def read_d7():
    # 第 7 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[6]


def read_d8():
    # 第 8 顆雷射的距離：0 ~ 100（1 格＝1.2 公分）
    return sensor.read('IR-SEEK')[7]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 第 1 行顯示第 1 顆雷射的距離
    ev3.screen.draw_text(0, 0, "D1 " + str(read_d1()) + "      ", Color.BLACK, Color.WHITE)
    # 第 2 行顯示第 2 顆雷射的距離
    ev3.screen.draw_text(0, 16, "D2 " + str(read_d2()) + "      ", Color.BLACK, Color.WHITE)
    # 第 3 行顯示第 3 顆雷射的距離
    ev3.screen.draw_text(0, 32, "D3 " + str(read_d3()) + "      ", Color.BLACK, Color.WHITE)
    # 第 4 行顯示第 4 顆雷射的距離
    ev3.screen.draw_text(0, 48, "D4 " + str(read_d4()) + "      ", Color.BLACK, Color.WHITE)
    # 第 5 行顯示第 5 顆雷射的距離
    ev3.screen.draw_text(0, 64, "D5 " + str(read_d5()) + "      ", Color.BLACK, Color.WHITE)
    # 第 6 行顯示第 6 顆雷射的距離
    ev3.screen.draw_text(0, 80, "D6 " + str(read_d6()) + "      ", Color.BLACK, Color.WHITE)
    # 第 7 行顯示第 7 顆雷射的距離
    ev3.screen.draw_text(0, 96, "D7 " + str(read_d7()) + "      ", Color.BLACK, Color.WHITE)
    # 第 8 行顯示第 8 顆雷射的距離
    ev3.screen.draw_text(0, 112, "D8 " + str(read_d8()) + "      ", Color.BLACK, Color.WHITE)
    # 等 0.1 秒
    wait(100)

clev3r code

' ============================================================
' TOF8 八方位雷射測距感應器 EV3 新手範例 03：一次看 8 個方向的距離
' 軟體：clev3r
' 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：模式 1 會一次送出 8 顆雷射各自的距離。這個範例把 8 個數字都顯示在螢幕上，拿手在四周晃一晃，就知道每顆雷射對應哪個方向。
' 讀值：d1＝第 1 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d2＝第 2 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d3＝第 3 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d4＝第 4 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d5＝第 5 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d6＝第 6 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d7＝第 7 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））；d8＝第 8 顆雷射的距離（0 ~ 100（1 格＝1.2 公分））
' ============================================================
folder "prjs" "MBC_tof8_ex03"

' TOF8 八方位雷射插 1 號孔，使用模式 1
Sensor.SetMode(1, 1)
LCD.Clear()

' 清除螢幕
LCD.Clear()
' 一直重複
While "True"
  ' 第 1 行顯示第 1 顆雷射的距離
  LCD.Text(1, 0, 0, 1, "D1 " + Sensor.ReadRawValue(1, 0) + "      ")
  ' 第 2 行顯示第 2 顆雷射的距離
  LCD.Text(1, 0, 16, 1, "D2 " + Sensor.ReadRawValue(1, 1) + "      ")
  ' 第 3 行顯示第 3 顆雷射的距離
  LCD.Text(1, 0, 32, 1, "D3 " + Sensor.ReadRawValue(1, 2) + "      ")
  ' 第 4 行顯示第 4 顆雷射的距離
  LCD.Text(1, 0, 48, 1, "D4 " + Sensor.ReadRawValue(1, 3) + "      ")
  ' 第 5 行顯示第 5 顆雷射的距離
  LCD.Text(1, 0, 64, 1, "D5 " + Sensor.ReadRawValue(1, 4) + "      ")
  ' 第 6 行顯示第 6 顆雷射的距離
  LCD.Text(1, 0, 80, 1, "D6 " + Sensor.ReadRawValue(1, 5) + "      ")
  ' 第 7 行顯示第 7 顆雷射的距離
  LCD.Text(1, 0, 96, 1, "D7 " + Sensor.ReadRawValue(1, 6) + "      ")
  ' 第 8 行顯示第 8 顆雷射的距離
  LCD.Text(1, 0, 112, 1, "D8 " + Sensor.ReadRawValue(1, 7) + "      ")
  ' 等 0.1 秒
  Program.Delay(100)
EndWhile

Step by step:

Clear the screen
Repeat forever
- Row 1 shows the distance of laser 1
- Row 2 shows the distance of laser 2
- Row 3 shows the distance of laser 3
- Row 4 shows the distance of laser 4
- Row 5 shows the distance of laser 5
- Row 6 shows the distance of laser 6
- Row 7 shows the distance of laser 7
- Row 8 shows the distance of laser 8
- Wait 0.1 s

What you should see: 8 rows of numbers, one per laser; bring your hand near a laser and that row gets smaller.

FAQ:

The number does not match a ruler? On EV3, 1 unit = 1.2 cm (for example 25 = 30 cm); 100 means nothing within 120 cm ahead.
Is laser 1 on the left or the right? Try it with your hand and write it down; you will need it when programming.

Example 4: Sumo chaser: turn towards the nearest object and charge

What this example does: Mode 2 tells you directly "where the nearest object is and how far", so you do not have to compare 8 numbers yourself. The robot turns towards the nearest object and charges; when it sees nothing it spins to search.

What you need:

EV3 brick + Education base robot (left wheel on B, right wheel on C)
TOF8 eight-direction laser (EV3 edition)
A can as the opponent

How to connect: TOF8 eight-direction laser in port 1, mounted at the front with lasers 4 and 5 facing straight ahead, about 5 cm above the ground.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

(Too small? Click the picture to open it full size.)

Pybricks v4 code

# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 04：相撲追擊：轉向最近的東西衝過去
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：模式 2 會直接告訴你「最近的東西在哪個方向、有多遠」，不用自己比 8 個數字。車子轉向最近的東西衝過去，看不到東西時原地轉圈找。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # TOF8 八方位雷射插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_nearDist():
    # 最近的東西有多遠：0 ~ 100
    return sensor.read(2)[1]


def read_nearDir():
    # 最近的東西在哪個方向：-7 ~ +7（負＝左、正＝右、0 附近＝正前方；±8＝沒有東西）
    return sensor.read(2)[0]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 如果最近的東西在 60 以內（約 72 公分）
    if read_nearDist() < 60:
        # 如果方向小於 -1（偏左）
        if read_nearDir() < (-1):
            # 東西在左邊：原地往左轉
            left_motor.dc(-20)
            right_motor.dc(20)
        # 否則，如果方向大於 1（偏右）
        elif read_nearDir() > 1:
            # 東西在右邊：原地往右轉
            left_motor.dc(20)
            right_motor.dc(-20)
        else:
            # 東西在正前方：全力衝過去
            left_motor.dc(60)
            right_motor.dc(60)
    else:
        # 附近沒東西：原地轉圈找對手
        left_motor.dc(25)
        right_motor.dc(-25)

EV3 MicroPython v2.0 code

#!/usr/bin/env pybricks-micropython
# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 04：相撲追擊：轉向最近的東西衝過去
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：模式 2 會直接告訴你「最近的東西在哪個方向、有多遠」，不用自己比 8 個數字。車子轉向最近的東西衝過去，看不到東西時原地轉圈找。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # TOF8 八方位雷射插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_nearDist():
    # 最近的東西有多遠：0 ~ 100
    return sensor.read('IR-REMOTE')[1]


def read_nearDir():
    # 最近的東西在哪個方向：-7 ~ +7（負＝左、正＝右、0 附近＝正前方；±8＝沒有東西）
    return sensor.read('IR-REMOTE')[0]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 如果最近的東西在 60 以內（約 72 公分）
    if read_nearDist() < 60:
        # 如果方向小於 -1（偏左）
        if read_nearDir() < (-1):
            # 東西在左邊：原地往左轉
            left_motor.dc(-20)
            right_motor.dc(20)
        # 否則，如果方向大於 1（偏右）
        elif read_nearDir() > 1:
            # 東西在右邊：原地往右轉
            left_motor.dc(20)
            right_motor.dc(-20)
        else:
            # 東西在正前方：全力衝過去
            left_motor.dc(60)
            right_motor.dc(60)
    else:
        # 附近沒東西：原地轉圈找對手
        left_motor.dc(25)
        right_motor.dc(-25)

clev3r code

' ============================================================
' TOF8 八方位雷射測距感應器 EV3 新手範例 04：相撲追擊：轉向最近的東西衝過去
' 軟體：clev3r
' 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：模式 2 會直接告訴你「最近的東西在哪個方向、有多遠」，不用自己比 8 個數字。車子轉向最近的東西衝過去，看不到東西時原地轉圈找。
' 讀值：nearDist＝最近的東西有多遠（0 ~ 100）；nearDir＝最近的東西在哪個方向（-7 ~ +7（負＝左、正＝右、0 附近＝正前方；±8＝沒有東西））
' ============================================================
folder "prjs" "MBC_tof8_ex04"

' TOF8 八方位雷射插 1 號孔，使用模式 2
Sensor.SetMode(1, 2)
LCD.Clear()

' 一直重複
While "True"
  ' 如果最近的東西在 60 以內（約 72 公分）
  If Sensor.ReadRawValue(1, 1) < 60 Then
    ' 如果方向小於 -1（偏左）
    If Sensor.ReadRawValue(1, 0) < (-1) Then
      ' 東西在左邊：原地往左轉
      Motor.StartPower("B", -20)
      Motor.StartPower("C", 20)
    ' 否則，如果方向大於 1（偏右）
    ElseIf Sensor.ReadRawValue(1, 0) > 1 Then
      ' 東西在右邊：原地往右轉
      Motor.StartPower("B", 20)
      Motor.StartPower("C", -20)
    Else
      ' 東西在正前方：全力衝過去
      Motor.StartPower("B", 60)
      Motor.StartPower("C", 60)
    EndIf
  Else
    ' 附近沒東西：原地轉圈找對手
    Motor.StartPower("B", 25)
    Motor.StartPower("C", -25)
  EndIf
EndWhile

Step by step:

Repeat forever
- If the nearest object is within 60 (about 72 cm)
  - If the direction is less than -1 (to the left)
    - Object on the left: spin left on the spot
    - Otherwise:
      - Otherwise, if the direction is greater than 1 (to the right)
        
        Object on the right: spin right on the spot
        
        Otherwise:
        
        Object straight ahead: charge at full power
  - Otherwise:
    - Nothing nearby: spin on the spot to look for the opponent

What you should see: Put the can anywhere around the robot: it turns towards the can and pushes it.

FAQ:

The direction reads 8 or -8? ±8 means nothing within 120 cm in that direction, not "far left" or "far right".
It overshoots and swings back and forth? Lower the turning power 20, or change -1 and 1 to -2 and 2.

Example 5: Drive towards the most open direction

What this example does: Mode 2 also tells you "the most open direction". With proportional control the robot keeps heading for open space and finds its way out of a box maze.

What you need:

EV3 brick + Education base robot (left wheel on B, right wheel on C)
TOF8 eight-direction laser (EV3 edition)
A few boxes as obstacles

How to connect: TOF8 eight-direction laser in port 1, mounted at the front with lasers 4 and 5 facing straight ahead, about 5 cm above the ground.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

(Too small? Click the picture to open it full size.)

Pybricks v4 code

# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 05：往最空曠的方向走
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：模式 2 也會告訴你「最空曠的方向」。車子用比例控制一直往最空的地方開，在箱子陣裡會自己找出口。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # TOF8 八方位雷射插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_farDir():
    # 最空曠的方向：-7 ~ +7（負＝左、正＝右）
    return sensor.read(2)[2]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 轉彎力量 turn ＝ 最空方向 × 5（負數往左、正數往右）
    turn = read_farDir() * 5
    # 左輪＝25＋turn、右輪＝25－turn
    left_motor.dc(25 + turn)
    right_motor.dc(25 - turn)

EV3 MicroPython v2.0 code

#!/usr/bin/env pybricks-micropython
# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 05：往最空曠的方向走
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：模式 2 也會告訴你「最空曠的方向」。車子用比例控制一直往最空的地方開，在箱子陣裡會自己找出口。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # TOF8 八方位雷射插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_farDir():
    # 最空曠的方向：-7 ~ +7（負＝左、正＝右）
    return sensor.read('IR-REMOTE')[2]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 轉彎力量 turn ＝ 最空方向 × 5（負數往左、正數往右）
    turn = read_farDir() * 5
    # 左輪＝25＋turn、右輪＝25－turn
    left_motor.dc(25 + turn)
    right_motor.dc(25 - turn)

clev3r code

' ============================================================
' TOF8 八方位雷射測距感應器 EV3 新手範例 05：往最空曠的方向走
' 軟體：clev3r
' 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：模式 2 也會告訴你「最空曠的方向」。車子用比例控制一直往最空的地方開，在箱子陣裡會自己找出口。
' 讀值：farDir＝最空曠的方向（-7 ~ +7（負＝左、正＝右））
' ============================================================
folder "prjs" "MBC_tof8_ex05"

' TOF8 八方位雷射插 1 號孔，使用模式 2
Sensor.SetMode(1, 2)
LCD.Clear()

' 一直重複
While "True"
  ' 轉彎力量 turn ＝ 最空方向 × 5（負數往左、正數往右）
  turn = Sensor.ReadRawValue(1, 2) * 5
  ' 左輪＝25＋turn、右輪＝25－turn
  Motor.StartPower("B", 25 + turn)
  Motor.StartPower("C", 25 - turn)
EndWhile

Step by step:

Repeat forever
- Steering power turn = most open direction × 5 (negative = left, positive = right)
- Left wheel = 25 + turn, right wheel = 25 − turn

What you should see: The robot avoids the boxes and drives towards open space.

FAQ:

The direction reads 8 or -8? ±8 means nothing within 120 cm in that direction, not "far left" or "far right".
It keeps driving into walls? The sign of the direction may be opposite to your robot: swap "+turn" and "−turn" in the program.

Example 6: Where is the nearest object, and how many millimetres away

Pybricks v4 / EV3 MicroPython v2.0 / clev3r only (the EV3-G and Classroom blocks cannot read this mode)

What this example does: Mode 5 gives two numbers at once: how many millimetres away the nearest object is, and in which direction (-7~+7). That is 12 times finer than the 1.2 cm units of mode 2. This example shows both numbers and beeps when something comes within 15 cm.

What you need:

TOF8 eight-direction laser (EV3 edition, firmware v4.0 or later)
EV3 brick

How to connect: TOF8 eight-direction laser in port 1.

Download the program (pick your software):

⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

(The code is the example; no screenshot needed.)

Pybricks v4 code

# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 06：最近的東西在哪、幾公釐
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：TOF8 八方位雷射插 1 號孔
# 這個範例會做什麼：模式 5 一次給兩個數字：最近的東西有幾公釐、在哪個方向（-7~+7）。比模式 2 的 1.2 公分一格準 12 倍。這個範例把兩個數字顯示在螢幕上，東西靠到 15 公分內就嗶一聲。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # TOF8 八方位雷射插 1 號孔


def read_nearMm():
    # 最近的東西有多遠（公釐）：0 ~ 1200 mm
    return sensor.read(5)[0]


def read_nearDir5():
    # 最近的東西在哪個方向：-7 ~ +7（負＝左、正＝右、0 附近＝正前方；±8＝沒有東西）
    return sensor.read(5)[1]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 第 1 行顯示最近的東西有幾公釐
    ev3.screen.draw_text(0, 0, "NEARMM " + str(read_nearMm()) + "      ", Color.BLACK, Color.WHITE)
    # 第 2 行顯示它在哪個方向（負＝左、正＝右、0＝正前方）
    ev3.screen.draw_text(0, 16, "DIR " + str(read_nearDir5()) + "      ", Color.BLACK, Color.WHITE)
    # 如果最近的東西不到 150 公釐（15 公分）
    if read_nearMm() < 150:
        # 不到 15 公分：嗶一聲
        ev3.speaker.beep()
    # 等 0.1 秒
    wait(100)

EV3 MicroPython v2.0 code

#!/usr/bin/env pybricks-micropython
# ============================================================
# TOF8 八方位雷射測距感應器 EV3 新手範例 06：最近的東西在哪、幾公釐
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：TOF8 八方位雷射插 1 號孔
# 這個範例會做什麼：模式 5 一次給兩個數字：最近的東西有幾公釐、在哪個方向（-7~+7）。比模式 2 的 1.2 公分一格準 12 倍。這個範例把兩個數字顯示在螢幕上，東西靠到 15 公分內就嗶一聲。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # TOF8 八方位雷射插 1 號孔


def read_nearMm():
    # 最近的東西有多遠（公釐）：0 ~ 1200 mm
    return sensor.read('IR-CAL')[0]


def read_nearDir5():
    # 最近的東西在哪個方向：-7 ~ +7（負＝左、正＝右、0 附近＝正前方；±8＝沒有東西）
    return sensor.read('IR-CAL')[1]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 第 1 行顯示最近的東西有幾公釐
    ev3.screen.draw_text(0, 0, "NEARMM " + str(read_nearMm()) + "      ", Color.BLACK, Color.WHITE)
    # 第 2 行顯示它在哪個方向（負＝左、正＝右、0＝正前方）
    ev3.screen.draw_text(0, 16, "DIR " + str(read_nearDir5()) + "      ", Color.BLACK, Color.WHITE)
    # 如果最近的東西不到 150 公釐（15 公分）
    if read_nearMm() < 150:
        # 不到 15 公分：嗶一聲
        ev3.speaker.beep()
    # 等 0.1 秒
    wait(100)

clev3r code

' ============================================================
' TOF8 八方位雷射測距感應器 EV3 新手範例 06：最近的東西在哪、幾公釐
' 軟體：clev3r
' 接法：TOF8 八方位雷射插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：模式 5 一次給兩個數字：最近的東西有幾公釐、在哪個方向（-7~+7）。比模式 2 的 1.2 公分一格準 12 倍。這個範例把兩個數字顯示在螢幕上，東西靠到 15 公分內就嗶一聲。
' 讀值：nearMm＝最近的東西有多遠（公釐）（0 ~ 1200 mm）；nearDir5＝最近的東西在哪個方向（-7 ~ +7（負＝左、正＝右、0 附近＝正前方；±8＝沒有東西））
' ============================================================
folder "prjs" "MBC_tof8_ex06"

' TOF8 八方位雷射插 1 號孔，使用模式 5
Sensor.SetMode(1, 5)
LCD.Clear()

' 清除螢幕
LCD.Clear()
' 一直重複
While "True"
  ' 第 1 行顯示最近的東西有幾公釐
  LCD.Text(1, 0, 0, 1, "NEARMM " + Sensor.ReadRawValue(1, 0) + "      ")
  ' 第 2 行顯示它在哪個方向（負＝左、正＝右、0＝正前方）
  LCD.Text(1, 0, 16, 1, "DIR " + Sensor.ReadRawValue(1, 1) + "      ")
  ' 如果最近的東西不到 150 公釐（15 公分）
  If Sensor.ReadRawValue(1, 0) < 150 Then
    ' 不到 15 公分：嗶一聲
    Speaker.Tone(50, 1000, 100)
    Speaker.Wait()
  EndIf
  ' 等 0.1 秒
  Program.Delay(100)
EndWhile

Step by step:

Clear the screen
Repeat forever
- Row 1 shows the nearest distance in mm
- Row 2 shows its direction (negative = left, positive = right, 0 = straight ahead)
- If the nearest object is closer than 150 mm (15 cm)
  - Closer than 15 cm: beep
- Wait 0.1 s

What you should see: Move your hand around the sensor: row 1 follows in millimetres and row 2 tells you whether your hand is on the left (negative) or right (positive); within 15 cm the EV3 keeps beeping.

FAQ:

The direction reads 8 or -8? ±8 means nothing within 120 cm in that direction, not "far left" or "far right".
The number stays at 0 or never changes? This mode needs sensor firmware v4.0 (2026-10) or later; update older firmware first.
Why is there no EV3-G / Classroom version? This example uses a new mode (firmware v4, 2026-10). The EV3-G and Classroom infrared blocks cannot read it; only Pybricks, EV3 MicroPython and clev3r can.

Still stuck? Leave a message on Contact us with the software you use and a screenshot of your program, and we will help.