ch.aplu.nxt
Class ColorSensor

java.lang.Object
  extended by ch.aplu.nxt.Part
      extended by ch.aplu.nxt.Sensor
          extended by ch.aplu.nxt.ColorSensor
All Implemented Interfaces:
SharedConstants

public class ColorSensor
extends Sensor
implements SharedConstants

Class that represents a color light sensor (Lego Color Sensor)


Field Summary
 
Fields inherited from interface ch.aplu.nxt.SharedConstants
ABOUT, ACCELEROMETERPOLLDELAY, ANGLE, ANGLESTEPSMODE, AXELENGTH, BOOLEANMODE, BOOT, BRAKE, BRAKEDELAY, CELSIUSMODE, CLOSE, COLORPOLLDELAY, COMPASSPOLLDELAY, CRAWLERROTATIONFACTOR, CRAWLERROTATIONSPEED, CRAWLERSPEED, CRAWLERSTEPFACTOR, CUSTOM, DEBUG_LEVEL_HIGH, DEBUG_LEVEL_LOW, DEBUG_LEVEL_MEDIUM, DEBUG_LEVEL_OFF, DEBUGLEVEL, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GEARSPEED, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, GYROPOLLDELAY, HIGH_SPEED_BUFFER, INFRAREDSEEKERPOLLDELAY, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LIGHTPOLLDELAY, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTIONDETECTORPOLLDELAY, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, MOTORSPEED, MOTORSPEEDFACTOR, MOTORSPEEDMULTIPLIER, NO_OF_SENSOR_TYPES, NO_SENSOR, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, PROTOTYPEPOLLDELAY, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, RFIDPOLLDELAY, SENSOREVENTDELAY, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, SOUNDPOLLDELAY, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TITLE, TITLEMP, TOUCHPOLLDELAY, TRANSITIONCNTMODE, TURTLEROTATIONFACTOR, TURTLEROTATIONSPEED, TURTLESPEED, TURTLESTEPFACTOR, ULTRASONICPOLLDELAY, VERSION, WRITE
 
Constructor Summary
ColorSensor()
          Creates a sensor instance connected to port S1.
ColorSensor(SensorPort port)
          Creates a sensor instance connected to the given port.
 
Method Summary
 lejos.robotics.Color getColor()
          Returns a lejos.robotics.Color reference to the the calibrated color reading.
 lejos.nxt.SensorPort getLejosPort()
          Returns the reference of the the underlying lejos.nxt.SensorPort.
 lejos.nxt.ColorSensor getLejosSensor()
          Returns the reference of the the underlying lejos.nxt.ColorSensor.
 int getLightValue()
          Returns the intensity of the detected light.
 boolean inColorCube(lejos.robotics.Color color, int[] colorCube)
          Checks if given color lies within given color cube.
 void setFloodlight(int color)
          Turns the red, green or blue LED on or off.
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ColorSensor

public ColorSensor(SensorPort port)
Creates a sensor instance connected to the given port. Uses the lejos.nxt.ColorLightSensor in type TYPE_COLORFULL

Parameters:
port - the port where the sensor is plugged-in

ColorSensor

public ColorSensor()
Creates a sensor instance connected to port S1. Uses the lejos.nxt.ColorSensor in type TYPE_COLORFULL

Method Detail

getLejosSensor

public lejos.nxt.ColorSensor getLejosSensor()
Returns the reference of the the underlying lejos.nxt.ColorSensor.

Returns:
the reference of the ColorSensor

getLejosPort

public lejos.nxt.SensorPort getLejosPort()
Returns the reference of the the underlying lejos.nxt.SensorPort.

Returns:
the reference of the SensorPort

inColorCube

public boolean inColorCube(lejos.robotics.Color color,
                           int[] colorCube)
Checks if given color lies within given color cube.

Parameters:
color - a lejos.nxt.robotics.Color reference
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

getColor

public lejos.robotics.Color getColor()
Returns a lejos.robotics.Color reference to the the calibrated color reading.

Returns:
the calibrated color reading

getLightValue

public int getLightValue()
Returns the intensity of the detected light.

Returns:
light intensity (0..1023)

setFloodlight

public void setFloodlight(int color)
Turns the red, green or blue LED on or off.

Parameters:
color - one of the color enumerations Color.RED, Color.GREEN, Color.BLUE, Color.NONE (turn off)