ch.aplu.ev3

Class ColorSensor

java.lang.Object

ch.aplu.ev3.Part

ch.aplu.ev3.Sensor

ch.aplu.ev3.ColorSensor

public class ColorSensor
extends Sensor

Class that represents a color sensor (Lego EV3 Color Sensor in RGB mode)

Field Summary

Fields

Modifier and Type	Field and Description
static int[][]	colorCubes Color cubes for detecting color labels. 6 user adaptable int arrays with red_min, red_max, green_min, green_max, blue_min, blue_max for the colors Black, Blue, Green, Yellow, Red, White.

Constructor Summary

Constructors

Constructor and Description
ColorSensor() Creates a sensor instance connected to port S1.
ColorSensor(SensorPort port) Creates a sensor instance connected to the given port.

Method Summary

Methods

Modifier and Type	Method and Description
java.awt.Color	getColor() Returns a java.awt.Color reference to the color reading.
int	getColorID() Returns a integer number ID for the current color reading.
int	getColorInt() Returns the color as integer value of the color reading.
ColorLabel	getColorLabel() Returns one of the enums of ColorLabel.
lejos.hardware.sensor.EV3ColorSensor	getLejosSensor() Returns the reference of the the underlying lejos.hardware.sensor.EV3ColorSensor.
static boolean	inColorCube(java.awt.Color color, int[] colorCube) Checks if given color lies within given color cube.
void	setFloodlight(int colorValue) Turns the red, green or blue LED on or all off.

Methods inherited from class ch.aplu.ev3.Sensor

getLejosPort

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

colorCubes

public static int[][] colorCubes

Color cubes for detecting color labels. 6 user adaptable int arrays with red_min, red_max, green_min, green_max, blue_min, blue_max for the colors Black, Blue, Green, Yellow, Red, White.
Example: Redefine blue cube:
ColorSensor.colorCubes[1] = new int[]{0, 2, 0, 2, 0, 2};

Constructor Detail

ColorSensor

public ColorSensor(SensorPort port)

Creates a sensor instance connected to the given port.

Parameters:

port - the port where the sensor is plugged-in

ColorSensor

public ColorSensor()

Creates a sensor instance connected to port S1.

Method Detail

getLejosSensor

public lejos.hardware.sensor.EV3ColorSensor getLejosSensor()

Returns the reference of the the underlying lejos.hardware.sensor.EV3ColorSensor.

Returns:

the reference of the lejos.hardware.sensor.EV3ColorSensor

getColor

public java.awt.Color getColor()

Returns a java.awt.Color reference to the color reading.

Returns:

the RGB color

getColorInt

public int getColorInt()

Returns the color as integer value of the color reading. Red in bits 0..6, Green in bits 7..15, Blue in bits 16..23, 1 in bits 24..31.

Returns:

color int

getColorID

public int getColorID()

Returns a integer number ID for the current color reading. The colors are checked to be inside the public static colorCubes array. This array may be adapted to your illumination and color environment.
ID 0: Undefined
ID 1: Black
ID 2: Blue
ID 3: Green
ID 4: Yellow
ID 5: Red
ID 6: White

Returns:

a integer code for the currently detected color (0..6)

getColorLabel

public ColorLabel getColorLabel()

Returns one of the enums of ColorLabel.
UNDEFINED
BLACK
BLUE
GREEN
YELLOW
RED
WHITE
The colors are checked to be inside the public static colorCubes array. This array may be adapted to your illumination and color environment.

Returns:

an ColorLabel enum value for the currently detected color.

inColorCube

public static boolean inColorCube(java.awt.Color color,
                  int[] colorCube)

Checks if given color lies within given color cube.

Parameters:

color - the color to check

colorCube - an integer array of 6 boundary values in the order: red_min, red_max, green_min, green_max, blue_min, blue_max

Returns:

true, if the color is within the color cube; otherwise false

setFloodlight

public void setFloodlight(int colorValue)

Turns the red, green or blue LED on or all off.

Parameters:

colorValue - 0: red, 1: green, 2: blue, -1: all off