lejos.nxt.addon
Class ColorHTSensor

java.lang.Object
  lejos.nxt.I2CSensor
      lejos.nxt.addon.ColorHTSensor

All Implemented Interfaces:

SensorConstants, ColorDetector

public class ColorHTSensor
extends I2CSensor
implements ColorDetector

HiTechnic color sensor.
www.hitechnic.com This class does support HiTechnic Color Sensor V2.

Author:

BB extended by A.T.Brask

Field Summary

Fields inherited from class lejos.nxt.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION

Fields inherited from interface lejos.nxt.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, GREEN, GREEN_INDEX, MAX_AD_RAW, MAX_TYPE, MIN_TYPE, MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, 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

ColorHTSensor(I2CPort port)

Method Summary

Color	getColor() Return the Red, Green and Blue values together in one object.
int	getColorID() Returns the color index detected by the sensor.
int	getColorIndexNumber() Essentially the same as getColorNumber() but with a resolution of 6 bits.
int	getMode() Returns the value of the mode control register (0x41)
int	getRGBComponent(int color) Returns a single color component, specified by using an enumeration constant as a parameter.
int	getRGBNormalized(int color) Returns the normalized color component.
int	getRGBRaw(int color) Returns the raw saturation of the color.
int	initBlackLevel() Puts the sensor into black/ambient level calibration mode.
int	initWhiteBalance() Puts the sensor into white balance calibration mode.

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getVendorID, getVersion, sendData, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Constructor Detail

ColorHTSensor

public ColorHTSensor(I2CPort port)

Method Detail

getColorID

public int getColorID()

Returns the color index detected by the sensor.

Specified by:

getColorID in interface ColorDetector

Returns:

Color index.

0 = red

1 = green

2 = blue

3 = yellow

4 = magenta

5 = orange

6 = white

7 = black

8 = pink

9 = gray

10 = light gray

11 = dark gray

12 = cyan

getColorIndexNumber

public int getColorIndexNumber()

Essentially the same as getColorNumber() but with a resolution of 6 bits. Red is bit 5-4, green is bit 3-2 and blue is bit 1-0.

Returns:

Color index number

getRGBComponent

public int getRGBComponent(int color)

Returns a single color component, specified by using an enumeration constant as a parameter. e.g. Color.RED.

Parameters:

color - An integer obtained from Color, such as Color.RED, Color.GREEN or Color.BLUE

Returns:

The calibrated/normalized RGB value (0-255)

getRGBNormalized

public int getRGBNormalized(int color)

Returns the normalized color component.

Returns:

component value (0 to 255).

getRGBRaw

public int getRGBRaw(int color)

Returns the raw saturation of the color.

Returns:

component value (0 to 1023).

getMode

public int getMode()

Returns the value of the mode control register (0x41)

Returns:

The value of the register or -1 if the operation fails.

initWhiteBalance

public int initWhiteBalance()

Puts the sensor into white balance calibration mode. For best results the sensor should be pointed at a diffuse white surface at a distance of approximately 15mm before calling this method. After a fraction of a second the sensor lights will flash and the calibration is done. When calibrated, the sensor keeps this information in non-volatile memory.

Returns:

0 if it went well and -1 otherwise

initBlackLevel

public int initBlackLevel()

Puts the sensor into black/ambient level calibration mode. For best results the sensor should be pointed in a direction with no obstacles for 50cm or so. This reading the sensor will use as a base level for other readings. After a fraction of a second the sensor lights will flash and the calibration is done. When calibrated, the sensor keeps this information in non-volatile memory.

Returns:

0 if it went well and -1 otherwise.

getColor

public Color getColor()

Description copied from interface: ColorDetector

Return the Red, Green and Blue values together in one object.

Specified by:

getColor in interface ColorDetector

Returns:

Color object containing the three RGB component values between 0-255.