ch.aplu.nxt
Class ColorSensor

java.lang.Object
  ch.aplu.nxt.Part
      ch.aplu.nxt.Sensor
          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)