Source Code for Module Color

  1  # Color.py 
  2   
  3  ''' 
  4   This software is part of the EV3BrickPi library. 
  5   It is Open Source Free Software, so you may 
  6   - run the code for any purpose 
  7   - study how the code works and adapt it to your needs 
  8   - integrate all or parts of the code in your own programs 
  9   - redistribute copies of the code 
 10   - improve the code and release your improvements to the public 
 11   However the use of the code is entirely your responsibility. 
 12  ''' 
 13   
 14 -class Color(): 
 15      # BLACK, BLUE, GREEN, YELLOW, RED, WHITE 
 16      ''' 
 17      Standard values for EV3 color sensor may be modified to suit your situation. 
 18      ''' 
 19      colorCubes = [[0, 15, 9, 25, 3, 13], [1, 30, 20, 80, 30, 110],  
 20                    [30, 100, 50, 180, 10, 40], [150, 300, 100, 330, 20, 70], 
 21                    [100, 300, 10, 60, 10, 60], [100, 400, 100, 400, 100, 400]] 
 22   
 23      ''' 
 24      Standard names from brickpi3 library 
 25      ''' 
 26      colorNames = ["Black", "Blue", "Green", "Yellow", "Red", "White"] 
 27    
 28 -    def __init__(self, value): 
 29          ''' 
 30          Creates a Color instance from [red, green, blue] 
 31          red, green, blue: RGB values 0..255 
 32          ''' 
 33          self.red = value[0] 
 34          self.green = value[1] 
 35          self.blue = value[2] 
 36          self.colorInt = (self.red << 16) + (self.green << 8) + self.blue 
 37       
 38 -    def getColorInt(self): 
 39          ''' 
 40          Returns color as integer: bits 0..7: blue, bits 8..15: green, bits 16..23: red. 
 41          ''' 
 42          return self.colorInt 
 43           
 44 -    def getRed(self): 
 45          ''' 
 46          Returns red RGB value 0..255. 
 47          ''' 
 48          return self.red 
 49   
 50 -    def getGreen(self): 
 51          ''' 
 52          Returns green RGB value 0..255. 
 53          ''' 
 54          return self.green 
 55   
 56 -    def getBlue(self): 
 57          ''' 
 58          Returns blue RGB value 0..255. 
 59          ''' 
 60          return self.blue 
 61   
 62 -    def getRGB(self): 
 63          ''' 
 64          Returns list of RGB values 0..255.  
 65          ''' 
 66          return [self.red, self.green, self.blue] 
 67   
 68 -    def getColorID(self): 
 69          ''' 
 70          Returns color cube id 0..5 
 71          ''' 
 72          for i in range(6): 
 73              if self._inColorCube(self, Color.colorCubes[i]): 
 74                  return i + 1 
 75          return 0 
 76   
 77 -    def getColorLabel(self): 
 78          ''' 
 79          Returns color name determined with color cubes. Adapt the color cubes to your situation. 
 80          ''' 
 81          id = self.getColorID() 
 82          if id == 1: 
 83              return "BLACK" 
 84          elif id == 2: 
 85              return "BLUE" 
 86          elif id == 3: 
 87              return "GREEN" 
 88          elif id == 4: 
 89              return "YELLOW" 
 90          elif id == 5: 
 91              return "RED" 
 92          elif id == 6: 
 93              return "WHITE" 
 94          else: 
 95              return "UNDEFINED" 
 96   
 97 -    def _inColorCube(self, color, colorCube): 
 98          if (self.red >= colorCube[0]  
 99             and self.red <= colorCube[1] 
100             and self.green >= colorCube[2]  
101             and self.green <= colorCube[3] 
102             and self.blue >= colorCube[4]  
103             and self.blue <= colorCube[5]): 
104                return True 
105          return False 
106    
107 -    def __repr__(self): 
108          return "RGB: " + str(self.getRGB()) 
109