lejos.nxt
Class SensorPort.ColorSensorReader

java.lang.Object
  lejos.nxt.SensorPort.SensorReader
      lejos.nxt.SensorPort.ColorSensorReader

Enclosing class:

SensorPort

protected class SensorPort.ColorSensorReader
extends SensorPort.SensorReader

Lego Color Sensor driver. This driver provides access to the Lego Color sensor. It allows the reading raw and processed 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.

Author:

andy

Constructor Summary

SensorPort.ColorSensorReader()
Create a new Color Sensor instance and bind it to a port.

Method Summary

int	readRawValue() Return a single raw value from the device.
int	readRawValues(int[] vals) When in full color mode this returns all four raw color values from the device by doing four very quick reads and flashing all colors.
int	readValue() Return a single processed value.
int	readValues(int[] vals) Return a set of calibrated data.
void	reset() Reset the sensor.
void	setType(int type) Change the type of the sensor

Methods inherited from class lejos.nxt.SensorPort.SensorReader

setMode

Methods inherited from class java.lang.Object

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

Constructor Detail

SensorPort.ColorSensorReader

public SensorPort.ColorSensorReader()

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

Method Detail

setType

public void setType(int type)

Change the type of the sensor

Overrides:

setType in class SensorPort.SensorReader

Parameters:

type - new sensor type.

reset

public void reset()

Reset the sensor.

Overrides:

reset in class SensorPort.SensorReader

readRawValue

public int readRawValue()

Return a single raw value from the device. When in single color mode this returns the raw sensor reading. Values range from 0 to 1023 but usually don't get over 600.

Overrides:

readRawValue in class SensorPort.SensorReader

Returns:

the raw value or < 0 if there is an error.

readRawValues

public int readRawValues(int[] vals)

When in full color mode this returns all four raw color values from the device by doing four very quick reads and flashing all colors. The raw values theoretically range from 0 to 1023 but in practice they usually do not go higher than 600. You can access the index of each color using RGB_RED, RGB_GREEN, RGB_BLUE and RGB_BLANK. e.g. to retrieve the Blue value: vals[ColorSensor.RGB_BLUE]

Overrides:

readRawValues in class SensorPort.SensorReader

Parameters:

vals - array of four color values.

Returns:

< 0 if there is an error the number of values if ok

readValues

public int readValues(int[] vals)

Return a set of calibrated data. If in single color mode the returned data is a simple percentage. If in full color mode the data is a set of calibrated red/blue/green/blank readings that range from 0 to 255. You can access the index of each color using RED_INDEX, GREEN_INDEX, BLUE_INDEX and BLANK_INDEX. e.g. to retrieve the Blue value: vals[ColorSensor.BLUE_INDEX]

Overrides:

readValues in class SensorPort.SensorReader

Parameters:

vals - 4 element array for the results

Returns:

< 0 of error, the number of values if ok

readValue

public int readValue()

Return a single processed value. If in single color mode this returns a single reading as a percentage. If in full color mode it returns a Lego color value that identifies the color of the object in view.

Overrides:

readValue in class SensorPort.SensorReader

Returns:

processed color value.