lejos.hardware.sensor

Class NXTColorSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.AnalogSensor

lejos.hardware.sensor.NXTColorSensor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, ColorIdentifier, LampController, SampleProvider

public class NXTColorSensor
extends AnalogSensor
implements SensorConstants, LampController, ColorIdentifier

LEGO NXT Color Sensor
allows the reading of raw color values. The sensor has a tri-color LED and this can be set to output red/green/blue or off. It also has a full mode in which four samples are read (off/red/green/blue) very quickly. These samples can then be combined using the calibration data provided by the device to determine the "LEGO" color currently being viewed.

Supported modes
Mode name	Description	unit(s)	Getter
Color ID	Measures the color ID	Color ID	getColorIDMode()
Red	Measures the light value when illuminated with a red light source.	N/A, normalized	getRedMode()
Green	Measures the light value when illuminated with a green light source.	N/A, normalized	getGreenMode()
Blue	Measures the light value when illuminated with a blue light source.	N/A, normalized	getBlueMode()
RGB	Measures the light value when illuminated with a white light source.	N/A, normalized	getRGBMode()
Ambient	Measures the light value of ambient light.	N/A, normalized	getAmbientMode()

See The leJOS sensor framework See leJOS conventions for SampleProviders

Author:

Andy

Field Summary

Fields

Modifier and Type	Field and Description
protected static int[]	colorMap
protected static long	SWITCH_DELAY

Fields inherited from class lejos.hardware.sensor.AnalogSensor

currentType, port

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

Constructors

Constructor and Description
NXTColorSensor(AnalogPort port) Create a new Color Sensor instance and bind it to a port.
NXTColorSensor(Port port) Create a new Color Sensor instance and bind it to a port.

Method Summary

Modifier and Type	Method and Description
SensorMode	getAmbientMode() get a sample provider the returns the light value when illuminated without a light source.
SensorMode	getBlueMode() get a sample provider the returns the light value when illuminated with a Blue light source.
int	getColorID() Read the current color and return an enumeration constant.
SensorMode	getColorIDMode() get a sample provider in color ID mode
int	getFloodlight() Returns the color of the floodlight, including Color.NONE.
SensorMode	getGreenMode() get a sample provider the returns the light value when illuminated with a Green light source.
SensorMode	getRedMode() get a sample provider the returns the light value when illuminated with a Red light source.
SensorMode	getRGBMode() get a sample provider the returns the light values (RGB + ambient) when illuminated by a white light source.
protected void	init()
boolean	isFloodlightOn() Checks if the floodlight is currently on.
protected void	readFull()
protected void	readRaw()
void	setFloodlight(boolean floodlight) Turns the default LED light on or off.
boolean	setFloodlight(int color) Used to turn on or off the floodlight by color.

Methods inherited from class lejos.hardware.sensor.AnalogSensor

normalize, NXTRawIntValue, NXTRawValue, switchType

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

SWITCH_DELAY

protected static final long SWITCH_DELAY

See Also:

Constant Field Values

colorMap

protected static int[] colorMap

Constructor Detail

NXTColorSensor

public NXTColorSensor(AnalogPort port)

Create a new Color Sensor instance and bind it to a port.

Parameters:

port - Port to use for the sensor.

NXTColorSensor

public NXTColorSensor(Port port)

Create a new Color Sensor instance and bind it to a port.

Parameters:

port - Port to use for the sensor.

Method Detail

init

protected void init()

getColorIDMode

public SensorMode getColorIDMode()

get a sample provider in color ID mode

Returns:

the sample provider

getRedMode

public SensorMode getRedMode()

get a sample provider the returns the light value when illuminated with a Red light source.

Returns:

the sample provider

getGreenMode

public SensorMode getGreenMode()

get a sample provider the returns the light value when illuminated with a Green light source.

Returns:

the sample provider

getBlueMode

public SensorMode getBlueMode()

get a sample provider the returns the light value when illuminated with a Blue light source.

Returns:

the sample provider

getRGBMode

public SensorMode getRGBMode()

get a sample provider the returns the light values (RGB + ambient) when illuminated by a white light source.

Returns:

the sample provider

getAmbientMode

public SensorMode getAmbientMode()

get a sample provider the returns the light value when illuminated without a light source.

Returns:

the sample provider

readRaw

protected void readRaw()

readFull

protected void readFull()

setFloodlight

public void setFloodlight(boolean floodlight)

Description copied from interface: LampController

Turns the default LED light on or off. If the sensor has more than one lamp color, this will control the red LED.

Specified by:

setFloodlight in interface LampController

Parameters:

floodlight - true to turn on lamp, false for off (ambient light only).

getFloodlight

public int getFloodlight()

Description copied from interface: LampController

Returns the color of the floodlight, including Color.NONE.

Specified by:

getFloodlight in interface LampController

Returns:

An enumeration of the current color.

isFloodlightOn

public boolean isFloodlightOn()

Description copied from interface: LampController

Checks if the floodlight is currently on.

Specified by:

isFloodlightOn in interface LampController

Returns:

true if on, false if off.

setFloodlight

public boolean setFloodlight(int color)

Description copied from interface: LampController

Used to turn on or off the floodlight by color. If the sensor has multiple light colors, you can control which color is turned on or off. If the color does not exist, it does nothing and returns false. You can turn the floodlight off by using Color.NONE.

Specified by:

setFloodlight in interface LampController

Parameters:

color - Use Color enumeration constant to control lamp colors.

Returns:

True if lamp changed, false if lamp color doesn't exist for this sensor.

getColorID

public int getColorID()

Read the current color and return an enumeration constant. This is usually only accurate at a distance of about 1 cm.

Specified by:

getColorID in interface ColorIdentifier

Returns:

The color id under the sensor.