ch.aplu.robotsim

Class ColorSensor

java.lang.Object

Actor

ch.aplu.robotsim.Part

ch.aplu.robotsim.ColorSensor

public class ColorSensor
extends Part

Class that represents a color sensor.

Field Summary

Fields

Modifier and Type	Field and Description
static int[][]	colorCubes Color cubes for detecting color labels. 6 user adaptable int arrays with red_min, red_max, green_min, green_max, blue_min, blue_max for the colors Black, Blue, Green, Yellow, Red, White.

Constructor Summary

Constructors

Constructor and Description
ColorSensor() Creates a sensor instance connected to port S1.
ColorSensor(SensorPort port) Creates a sensor instance connected to the given port.

Method Summary

Modifier and Type	Method and Description
java.awt.Color	getColor() Returns the color detected by the color sensor at the current location.
int	getColorID() Returns a integer number ID for the current color reading.
ColorLabel	getColorLabel() Returns one of the enums of ColorLabel.
java.lang.String	getColorStr() Returns the name of the enums of ColorLabel.
int	getLightValue() Returns the brightness (scaled intensity in the HSB color model) detected by the light sensor at the current location.
SensorPort	getPort() Returns the port of the sensor.
static boolean	inColorCube(java.awt.Color color, int[] colorCube) Checks if given color lies within given color cube.

Methods inherited from class java.lang.Object

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

Field Detail

colorCubes

public static int[][] colorCubes

Color cubes for detecting color labels. 6 user adaptable int arrays with red_min, red_max, green_min, green_max, blue_min, blue_max for the colors Black, Blue, Green, Yellow, Red, White.
Example: Redefine blue cube:
ColorSensor.colorCubes[1] = new int[]{0, 2, 0, 2, 0, 2};

Constructor Detail

ColorSensor

public ColorSensor(SensorPort port)

Creates a sensor instance connected to the given port. The port selection determines the position of the sensor: S1: right; S2: left, S3: middle, S4: rear-middle.

Parameters:

port - the port where the sensor is plugged-in

ColorSensor

public ColorSensor()

Creates a sensor instance connected to port S1.

Method Detail

getLightValue

public int getLightValue()

Returns the brightness (scaled intensity in the HSB color model) detected by the light sensor at the current location. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

the brightness of the background color at the current location (0..1000, 0: dark, 1000: bright).

getColor

public java.awt.Color getColor()

Returns the color detected by the color sensor at the current location. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

the background color at the current location

getColorID

public int getColorID()

Returns a integer number ID for the current color reading. The colors are checked to be inside the public static colorCubes array. This array may be adapted to your illumination and color environment.
ID 0: Undefined
ID 1: Black
ID 2: Blue
ID 3: Green
ID 4: Yellow
ID 5: Red
ID 6: White

Returns:

a integer code for the currently detected color (0..6)

getColorLabel

public ColorLabel getColorLabel()

Returns one of the enums of ColorLabel.
UNDEFINED
BLACK
BLUE
GREEN
YELLOW
RED
WHITE
The colors are checked to be inside the public static colorCubes array. This array may be adapted to your illumination and color environment.

Returns:

an ColorLabel enum value for the currently detected color.

getColorStr

public java.lang.String getColorStr()

Returns the name of the enums of ColorLabel.
UNDEFINED
BLACK
BLUE
GREEN
YELLOW
RED
WHITE
The colors are checked to be inside the public static colorCubes array. This array may be adapted to your illumination and color environment.

Returns:

an ColorLabel enum name for the currently detected color.

inColorCube

public static boolean inColorCube(java.awt.Color color,
                                  int[] colorCube)

Checks if given color lies within given color cube.

Parameters:

color - the color to check

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

getPort

public SensorPort getPort()

Returns the port of the sensor.

Returns:

the sensor port