ev3dev.hardware.sensor.ev3

Class EV3ColorSensor

java.lang.Object

ev3dev.hardware.Device

ev3dev.hardware.EV3DevSysfs

ev3dev.hardware.EV3DevDevice

ev3dev.hardware.sensor.BaseSensor

ev3dev.hardware.sensor.ev3.EV3ColorSensor

All Implemented Interfaces:

SensorMode, SensorModes, java.io.Closeable, java.lang.AutoCloseable, ColorIdentifier, LampController, SampleProvider

public class EV3ColorSensor
extends BaseSensor
implements LampController, ColorIdentifier

EV3 color sensor
The digital EV3 Color Sensor distinguishes between eight different colors. It also serves as a light sensor by detecting light intensities.

Supported modes
Mode name	Description	unit(s)	Getter
Color ID	Measures the color ID of a surface	Color ID	getColorIDMode()
Red	Measures the intensity of a reflected red light	N/A, Normalized to (0-1)	getRedMode()
RGB	Measures the RGB color of a surface	N/A, Normalized to (0-1)	getRGBMode()
Ambient	Measures the ambient light level	N/A, Normalized to (0-1)	getAmbientMode()

Sensor configuration
The flood light of the sensor can be put on or off using the setFloodlight methods.

See Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
private class	EV3ColorSensor.AmbientMode
private class	EV3ColorSensor.ColorIDMode
private class	EV3ColorSensor.RedMode
private class	EV3ColorSensor.RGBMode

Field Summary

Fields

Modifier and Type	Field and Description
protected static java.lang.String	COL_AMBIENT
protected static java.lang.String	COL_CAL
protected static java.lang.String	COL_COLOR
protected static java.lang.String	COL_REFLECT
protected static java.lang.String	COL_REFRAW
protected static java.lang.String	COL_RESET
protected static java.lang.String	COL_RGBRAW
protected static int[]	colorMap
protected static int[]	lightColor
protected short[]	raw
protected static int	SWITCH_DELAY

Fields inherited from class ev3dev.hardware.sensor.BaseSensor

currentMode, currentModeS, modes

Fields inherited from class ev3dev.hardware.EV3DevDevice

PATH_DEVICE

Fields inherited from class ev3dev.hardware.Device

closeList

Constructor Summary

Constructors

Constructor and Description
EV3ColorSensor(java.lang.String sensorPort)

Method Summary

Modifier and Type	Method and Description
SensorMode	getAmbientMode() EV3 color sensor, Ambient mode Measures the level of ambient light while the sensors lights are off.
int	getColorID() Return an enumerated constant that indicates the color detected. e.g.
SensorMode	getColorIDMode() EV3 color sensor, Color ID mode Measures the color ID of a surface.
int	getFloodlight() Returns the color of the floodlight, including Color.NONE.
SensorMode	getRedMode() EV3 color sensor, Red mode Measures the level of reflected light from the sensors RED LED.
SensorMode	getRGBMode() EV3 color sensor, RGB mode Measures the level of red, green and blue light when illuminated by a white light source..
private void	initModes()
boolean	isFloodlightOn() Checks if the floodlight is currently on.
void	setFloodlight(boolean floodlight) Turns the default LED light on or off.
boolean	setFloodlight(int color) Used to turn on or off the floodlight by color.

Methods inherited from class ev3dev.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes, switchMode, switchMode

Methods inherited from class ev3dev.hardware.EV3DevDevice

connect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class ev3dev.hardware.EV3DevSysfs

getElements, readFloat, readInteger, readString, writeInteger, writeString

Methods inherited from class ev3dev.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

colorMap

protected static int[] colorMap

SWITCH_DELAY

protected static final int SWITCH_DELAY

See Also:

Constant Field Values

COL_RESET

protected static final java.lang.String COL_RESET

See Also:

Constant Field Values

COL_REFLECT

protected static final java.lang.String COL_REFLECT

See Also:

Constant Field Values

COL_AMBIENT

protected static final java.lang.String COL_AMBIENT

See Also:

Constant Field Values

COL_COLOR

protected static final java.lang.String COL_COLOR

See Also:

Constant Field Values

COL_REFRAW

protected static final java.lang.String COL_REFRAW

See Also:

Constant Field Values

COL_RGBRAW

protected static final java.lang.String COL_RGBRAW

See Also:

Constant Field Values

COL_CAL

protected static final java.lang.String COL_CAL

See Also:

Constant Field Values

lightColor

protected static final int[] lightColor

raw

protected short[] raw

Constructor Detail

EV3ColorSensor

public EV3ColorSensor(java.lang.String sensorPort)

Method Detail

initModes

private void initModes()

getColorID

public int getColorID()

Return an enumerated constant that indicates the color detected. e.g. Color.BLUE

Specified by:

getColorID in interface ColorIdentifier

Returns:

An integer from the Color constants, such as Color.BLUE

setFloodlight

public void setFloodlight(boolean floodlight)

Turns the default LED light on or off. If the sensor has more than one lamp color, this will control the red LED.

Specified by:

setFloodlight in interface LampController

Parameters:

floodlight - true to turn on lamp, false for off (ambient light only).

isFloodlightOn

public boolean isFloodlightOn()

Checks if the floodlight is currently on.

Specified by:

isFloodlightOn in interface LampController

Returns:

true if on, false if off.

getFloodlight

public int getFloodlight()

Returns the color of the floodlight, including Color.NONE.

Specified by:

getFloodlight in interface LampController

Returns:

An enumeration of the current color.

setFloodlight

public boolean setFloodlight(int color)

Used to turn on or off the floodlight by color. If the sensor has multiple light colors, you can control which color is turned on or off. If the color does not exist, it does nothing and returns false. You can turn the floodlight off by using Color.NONE.

Specified by:

setFloodlight in interface LampController

Parameters:

color - Use Color enumeration constant to control lamp colors.

Returns:

True if lamp changed, false if lamp color doesn't exist for this sensor.

getColorIDMode

public SensorMode getColorIDMode()

EV3 color sensor, Color ID mode
Measures the color ID of a surface. The sensor can identify 8 unique colors (NONE, BLACK, BLUE, GREEN, YELLOW, RED, WHITE, BROWN).

Size and content of the sample
The sample contains one element containing the ID (0-7) of the detected color.

Returns:

A sampleProvider See leJOS conventions for SampleProviders

getRedMode

public SensorMode getRedMode()

EV3 color sensor, Red mode
Measures the level of reflected light from the sensors RED LED.

Size and content of the sample
The sample contains one element containing the intensity level (Normalized between 0 and 1) of reflected light.

Returns:

A sampleProvider See leJOS conventions for SampleProviders

getAmbientMode

public SensorMode getAmbientMode()

EV3 color sensor, Ambient mode
Measures the level of ambient light while the sensors lights are off.

Size and content of the sample
The sample contains one element containing the intensity level (Normalized between 0 and 1) of ambient light.

Returns:

A sampleProvider See leJOS conventions for SampleProviders

getRGBMode

public SensorMode getRGBMode()

EV3 color sensor, RGB mode
Measures the level of red, green and blue light when illuminated by a white light source..

Size and content of the sample
The sample contains 3 elements containing the intensity level (Normalized between 0 and 1) of red, green and blue light respectivily.

Returns:

A sampleProvider See leJOS conventions for SampleProviders