ShefRobot

Class ColorSensor

java.lang.Object

ShefRobot.Sensor<ShefRobot.ColorSensorAction>

ShefRobot.ColorSensor

All Implemented Interfaces:

Runnable

public class ColorSensor
extends Sensor<ShefRobot.ColorSensorAction>

This class represents an EV3 ColorSensor which has four modes of operation ColorSensor.Mode.COLOR, ColorSensor.Mode.RED, ColorSensor.Mode.RGB and ColorSensor.Mode.AMBIENT By default the sensor starts in ColorSensor.Mode.RED mode. Each EV3 should contain 1 color sensor If the sensor seems insensitive, please check that the EV3s battery is charged. If you are switching between sensor modes without a delay, you may receive incorrect or out of range values (e.g. Calling getAmbient() directly after getColor() is likely to cause getAmbient() to return a bad value. This can be fixed by waiting for around 300ms after the first call to getAmbient() so the sensor has time to adjust.)

See Also:

Sensor

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ColorSensor.Color Enums used to represent the possible colours returned by the Color sensor
static class	ColorSensor.FloodlightState
static class	ColorSensor.Mode Modes that this sensor can be used in

Nested classes/interfaces inherited from class ShefRobot.Sensor

Sensor.Port

Method Summary

Modifier and Type	Method and Description
float	getAmbient() Returns a value representative of the light intensity detected.
ColorSensor.Color	getColor() Returns the colour detected by the sensor as one of the ColorSensor.Color values.
ColorSensor.FloodlightState	getFloodlightState() Reads the current state of the floodlight
float	getRed() Returns the level of red reflected into the sensor If not already in red mode, this will switch the sensor into red mode (enabling the red light).
Color	getRGB() Returns the colour detected by the sensor ~untested~
void	run() This method is for internal use, it exists due to Sensors and Motors both extending runnable.
void	setFloodlightState(ColorSensor.FloodlightState newState) Changes the state of the floodlight to a colour or off Calls to read the sensor will change the floodlight back to the required colour
void	setMode(ColorSensor.Mode newMode) Switches the sensor between modes

Methods inherited from class ShefRobot.Sensor

getRawSample

Methods inherited from class java.lang.Object

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

Method Detail

setMode

public void setMode(ColorSensor.Mode newMode)

Switches the sensor between modes

Parameters:

newMode - The desired mode to switch to

setFloodlightState

public void setFloodlightState(ColorSensor.FloodlightState newState)

Changes the state of the floodlight to a colour or off Calls to read the sensor will change the floodlight back to the required colour

Parameters:

newState - The desired state to switch to

getFloodlightState

public ColorSensor.FloodlightState getFloodlightState()

Reads the current state of the floodlight

Returns:

The current state of the floodlight

getColor

public ColorSensor.Color getColor()

Returns the colour detected by the sensor as one of the ColorSensor.Color values. If not already in color mode, this will switch the sensor into color mode (enabling the white [rgb] light).

Returns:

Returns a ColorSensor.Color enum

getAmbient

public float getAmbient()

Returns a value representative of the light intensity detected. If not already in ambient mode, this will switch the sensor into ambient mode (enabling the blue light).

Returns:

Returns a value in the range 0.0-1.0 (although without a bright light, this value is often low)

getRed

public float getRed()

Returns the level of red reflected into the sensor If not already in red mode, this will switch the sensor into red mode (enabling the red light).

Returns:

Returns a value in the range 0.0-1.0

getRGB

public Color getRGB()

Returns the colour detected by the sensor ~untested~

Returns:

The RGB value detected by the sensor as a java Color object.

run

public void run()

This method is for internal use, it exists due to Sensors and Motors both extending runnable.

Specified by:

run in interface Runnable