com.qualcomm.hardware.modernrobotics

Class ModernRoboticsI2cColorSensor

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<I2cDeviceSynch>

com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cColorSensor

All Implemented Interfaces:

ColorSensor, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, Light, NormalizedColorSensor, SwitchableLight, RobotArmingStateNotifier.Callback

public class ModernRoboticsI2cColorSensor
extends I2cDeviceSynchDevice<I2cDeviceSynch>
implements ColorSensor, NormalizedColorSensor, SwitchableLight, I2cAddrConfig

ModernRoboticsI2cColorSensor provides support for the Modern Robotics Color Sensor.

See Also:

MR Color Sensor

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ModernRoboticsI2cColorSensor.Command
static class	ModernRoboticsI2cColorSensor.Register

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT
protected float	colorNormalizationFactor In NormalizedColorSensor we report the 16-bit sensor-normalized values, not the 8 bit colors reported through ColorSensor.
protected boolean	isLightOn

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Constructor Summary

Constructors

Constructor and Description
ModernRoboticsI2cColorSensor(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
int	alpha() Get the amount of light detected by the sensor as an int.
int	argb() Get the sensed ARGB color value from the sensor.
int	blue() Get the Blue values detected by the sensor as an int.
protected boolean	doInitialize() Actually carries out the initialization of the instance.
void	enableLed(boolean enable) Enable the LED light
void	enableLight(boolean enable) Turns the light on or off.
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
I2cAddr	getI2cAddress() Get the current I2C Address of this object.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
NormalizedRGBA	getNormalizedColors() Reads the colors from the sensor
int	green() Get the Green values detected by the sensor as an int.
boolean	isLightOn() Answers whether the light is on or off
byte	read8(ModernRoboticsI2cColorSensor.Register reg)
int	readUnsignedByte(ModernRoboticsI2cColorSensor.Register register)
int	readUnsignedShort(ModernRoboticsI2cColorSensor.Register register)
int	red() Get the Red values detected by the sensor as an int.
void	setI2cAddress(I2cAddr newAddress) Set the I2C address to a new value.
java.lang.String	toString()
void	write8(ModernRoboticsI2cColorSensor.Register reg, byte value)
void	writeCommand(ModernRoboticsI2cColorSensor.Command command)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

Field Detail

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

colorNormalizationFactor

protected final float colorNormalizationFactor

In NormalizedColorSensor we report the 16-bit sensor-normalized values, not the 8 bit colors reported through ColorSensor.

See Also:

Constant Field Values

isLightOn

protected boolean isLightOn

Constructor Detail

ModernRoboticsI2cColorSensor

public ModernRoboticsI2cColorSensor(I2cDeviceSynch deviceClient)

Method Detail

doInitialize

protected boolean doInitialize()

Description copied from class: I2cDeviceSynchDevice

Actually carries out the initialization of the instance.

Specified by:

doInitialize in class I2cDeviceSynchDevice<I2cDeviceSynch>

Returns:

Whether the initialization was successful or not

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

read8

public byte read8(ModernRoboticsI2cColorSensor.Register reg)

write8

public void write8(ModernRoboticsI2cColorSensor.Register reg,
                   byte value)

readUnsignedByte

public int readUnsignedByte(ModernRoboticsI2cColorSensor.Register register)

readUnsignedShort

public int readUnsignedShort(ModernRoboticsI2cColorSensor.Register register)

writeCommand

public void writeCommand(ModernRoboticsI2cColorSensor.Command command)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

red

public int red()

Description copied from interface: ColorSensor

Get the Red values detected by the sensor as an int.

Specified by:

red in interface ColorSensor

Returns:

reading, unscaled.

green

public int green()

Description copied from interface: ColorSensor

Get the Green values detected by the sensor as an int.

Specified by:

green in interface ColorSensor

Returns:

reading, unscaled.

blue

public int blue()

Description copied from interface: ColorSensor

Get the Blue values detected by the sensor as an int.

Specified by:

blue in interface ColorSensor

Returns:

reading, unscaled.

alpha

public int alpha()

Description copied from interface: ColorSensor

Get the amount of light detected by the sensor as an int.

Specified by:

alpha in interface ColorSensor

Returns:

reading, unscaled.

argb

public int argb()

Description copied from interface: ColorSensor

Get the sensed ARGB color value from the sensor.

Specified by:

argb in interface ColorSensor

Returns:

a packed 32-bit integer (to be interpreted as unsigned) containing all 4 color channels. To extract a specific channel, you can either manually bitshift and bitmask, (e.g. to extract red, (color >> 16) & 0xFF) or you can use the Android color class' red() green() and blue() methods.

getNormalizedColors

public NormalizedRGBA getNormalizedColors()

Description copied from interface: NormalizedColorSensor

Reads the colors from the sensor

Specified by:

getNormalizedColors in interface NormalizedColorSensor

Returns:

the current set of colors from the sensor

enableLed

public void enableLed(boolean enable)

Description copied from interface: ColorSensor

Enable the LED light

Specified by:

enableLed in interface ColorSensor

Parameters:

enable - true to enable; false to disable

enableLight

public void enableLight(boolean enable)

Description copied from interface: SwitchableLight

Turns the light on or off.

Specified by:

enableLight in interface SwitchableLight

Parameters:

enable - if true, the light turns on; otherwise the light turns off

isLightOn

public boolean isLightOn()

Description copied from interface: Light

Answers whether the light is on or off

Specified by:

isLightOn in interface Light

Returns:

whether the light is on or off

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

Description copied from interface: ColorSensor

Set the I2C address to a new value.

Specified by:

setI2cAddress in interface ColorSensor

Specified by:

setI2cAddress in interface I2cAddrConfig

Parameters:

newAddress - the new I2C address to use

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: ColorSensor

Get the current I2C Address of this object. Not necessarily the same as the I2C address of the actual device. Return the current I2C address.

Specified by:

getI2cAddress in interface ColorSensor

Specified by:

getI2cAddress in interface I2cAddressableDevice

Returns:

current I2C address