lejos.nxt.addon
Class ColorSensor

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

All Implemented Interfaces:

SensorConstants, ColorDetector

public class ColorSensor
extends I2CSensor
implements ColorDetector

HiTechnic color sensor.
www.hitechnic.com

Author:

BB extended by A.T.Brask

Field Summary

Fields inherited from class lejos.nxt.I2CSensor

PRODUCT_ID, SENSOR_TYPE, VERSION

Fields inherited from interface lejos.nxt.SensorConstants

MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, 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

Constructor Summary

ColorSensor(I2CPort port)

Method Summary

int	getBlueComponent() Returns the blue saturation of the color.
int[]	getColor() Return the Red, Green and Blue values together in one array.
int	getColorIndexNumber() Essentially the same as getColorNumber() but with a resolution of 6 bits.
int	getColorNumber() Returns the color index detected by the sensor.
int	getGreenComponent() Returns the green saturation of the color.
int	getMode() Returns the value of the mode control register (0x41)
int	getNormalizedBlue() Returns the normalized blue saturation of the color.
int	getNormalizedGreen() Returns the normalized green saturation of the color.
int	getNormalizedRed() Returns the normalized red saturation of the color.
int	getRawBlue() Returns the raw blue saturation of the color.
int	getRawGreen() Returns the raw green saturation of the color.
int	getRawRed() Returns the raw red saturation of the color.
int	getRedComponent() Returns the red 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, getData, getPort, getProductID, getSensorType, getVersion, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Constructor Detail

ColorSensor

public ColorSensor(I2CPort port)

Method Detail

getColorNumber

public int getColorNumber()

Returns the color index detected by the sensor.

Returns:

Color index.

0 = black

1 = violet

2 = purple

3 = blue

4 = green

5 = lime

6 = yellow

7 = orange

8 = red

9 = crimson

10 = magenta

11 to 16 = pastels

17 = white

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

getRedComponent

public int getRedComponent()

Returns the red saturation of the color.

Specified by:

getRedComponent in interface ColorDetector

Returns:

red value (0 to 255).

getGreenComponent

public int getGreenComponent()

Returns the green saturation of the color.

Specified by:

getGreenComponent in interface ColorDetector

Returns:

green value (0 to 255).

getBlueComponent

public int getBlueComponent()

Returns the blue saturation of the color.

Specified by:

getBlueComponent in interface ColorDetector

Returns:

blue value (0 to 255).

getNormalizedRed

public int getNormalizedRed()

Returns the normalized red saturation of the color.

Returns:

red value (0 to 255).

getNormalizedGreen

public int getNormalizedGreen()

Returns the normalized green saturation of the color.

Returns:

green value (0 to 255).

getNormalizedBlue

public int getNormalizedBlue()

Returns the normalized blue saturation of the color.

Returns:

blue value (0 to 255).

getRawRed

public int getRawRed()

Returns the raw red saturation of the color.

Returns:

red value (0 to 1023).

getRawGreen

public int getRawGreen()

Returns the raw green saturation of the color.

Returns:

green value (0 to 1023).

getRawBlue

public int getRawBlue()

Returns the raw blue saturation of the color.

Returns:

blue 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 int[] getColor()

Description copied from interface: ColorDetector

Return the Red, Green and Blue values together in one array. All values are 0-255.

Specified by:

getColor in interface ColorDetector

Returns:

All three color values. The array index for Red is 0, Green is 1, Blue is 2.