private BrickSensorType GetEV3Mode(ColorSensorMode mode)
{
BrickSensorType ret = BrickSensorType.EV3_COLOR_M0;
switch (mode)
{
//question is about the various modes and if theyr are supported and how
case ColorSensorMode.Color:
ret = BrickSensorType.EV3_COLOR_M2;
break;
case ColorSensorMode.Reflection:
ret = BrickSensorType.EV3_COLOR_M0;
break;
case ColorSensorMode.Green:
ret = BrickSensorType.EV3_COLOR_M3;
break;
case ColorSensorMode.Blue:
ret = BrickSensorType.EV3_COLOR_M4;
break;
case ColorSensorMode.Ambient:
ret = BrickSensorType.EV3_COLOR_M1;
break;
}
return(ret);
}
private SensorType GetEV3Mode(ColorSensorMode mode)
{
SensorType ret = SensorType.EV3ColorReflected;
switch (mode)
{
case ColorSensorMode.Color:
ret = SensorType.EV3ColorColor;
break;
case ColorSensorMode.Reflection:
ret = SensorType.EV3ColorReflected;
break;
case ColorSensorMode.Green:
ret = SensorType.EV3ColorRawReflected;
break;
case ColorSensorMode.Blue:
ret = SensorType.EV3ColorColorComponents;
break;
case ColorSensorMode.Ambient:
ret = SensorType.EV3ColorAmbient;
break;
}
return(ret);
}
private SENSOR_TYPE GetEV3Mode(ColorSensorMode mode)
{
SENSOR_TYPE ret = SENSOR_TYPE.EV3_COLOR_REFLECTED; //.EV3_COLOR_M0;
switch (mode)
{
//question is about the various modes and if theyr are supported and how
case ColorSensorMode.Color:
ret = SENSOR_TYPE.EV3_COLOR_COLOR; //BrickSensorType.EV3_COLOR_M2;
break;
case ColorSensorMode.Reflection:
ret = SENSOR_TYPE.EV3_COLOR_REFLECTED; //BrickSensorType.EV3_COLOR_M0;
break;
case ColorSensorMode.Green:
ret = SENSOR_TYPE.EV3_COLOR_RAW_REFLECTED; //BrickSensorType.EV3_COLOR_M3;
break;
case ColorSensorMode.Blue:
ret = SENSOR_TYPE.EV3_COLOR_COLOR_COMPONENTS; //BrickSensorType.EV3_COLOR_M4;
break;
case ColorSensorMode.Ambient:
ret = SENSOR_TYPE.EV3_COLOR_AMBIENT; //BrickSensorType.EV3_COLOR_M1;
break;
}
return(ret);
}
internal async Task SetSensorModeAsyncInternal(ColorSensorMode mode, SensorColor color = SensorColor.Black)
{
switch (mode)
{
case ColorSensorMode.ColorDetector:
case ColorSensorMode.Lamp:
this.sensorType = SensorType.ColorFull;
break;
case ColorSensorMode.LightSensor:
switch (color)
{
case SensorColor.Red:
this.sensorType = SensorType.ColorRed;
break;
case SensorColor.Green:
this.sensorType = SensorType.ColorGreen;
break;
case SensorColor.Blue:
this.sensorType = SensorType.ColorBlue;
break;
default:
this.sensorType = SensorType.ColorNone;
break;
}
break;
}
this.colorSensorMode = mode;
await base.Initialize();
}
SetSensorModeAsync(ColorSensorMode mode, SensorColor color)
{
return this.SetSensorModeAsyncInternal(mode, color)
#if WINRT
.AsAsyncAction()
#endif
;
}
/// <summary>
/// Initialize a NXT Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTColorSensor(BrickPortSensor port, ColorSensorMode mode, int timeout)
{
brick = new Brick();
Port = port;
colorMode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initilaize an EV3 Color Sensor
/// </summary>
/// <param name="brick"></param>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3ColorSensor(Brick brick, SensorPort port, ColorSensorMode mode, int timeout)
{
_brick = brick;
Port = port;
_colorMode = mode;
brick.SetSensorType((byte)Port, GetEV3Mode(mode));
_periodRefresh = timeout;
_timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initilaize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3ColorSensor(BrickPortSensor port, ColorSensorMode mode, int timeout)
{
brick = new Brick();
Port = port;
colorMode = mode;
//set the correct mode
brick.BrickPi.Sensor[(int)Port].Type = GetEV3Mode(mode);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initilaize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3ColorSensor(BrickPortSensor port, ColorSensorMode mode, int timeout)
{
brick = new Brick();
Port = port;
colorMode = mode;
//set the correct mode
brick.BrickPi.Sensor[(int)Port].Type = GetEV3Mode(mode);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize a NXT Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTColorSensor(Brick brick, BrickPortSensor port, ColorSensorMode mode, int timeout)
{
this.brick = brick;
Port = port;
colorMode = mode;
//brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
brick.set_sensor_type((byte)Port, (SENSOR_TYPE)mode);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initilaize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3ColorSensor(Brick brick, BrickPortSensor port, ColorSensorMode mode, int timeout)
{
this.brick = brick;
Port = port;
colorMode = mode;
//set the correct mode
//brick.BrickPi.Sensor[(int)Port].Type = GetEV3Mode(mode);
brick.set_sensor_type((byte)Port, GetEV3Mode(mode));
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
protected override void Start()
{
base.Start();
mode = ColorSensorMode.None;
var gamepadNotify = new GameControllerOperations();
_gamepadPort.Subscribe(gamepadNotify);
Activate(Arbiter.Receive<UpdateAxes>(true, gamepadNotify, GamePadAxisUpdated));
Activate(Arbiter.Receive<UpdateButtons>(true, gamepadNotify, ButtonUpdateHandler));
}
/// <summary>
/// Request the Mode to be changed.
/// </summary>
/// <param name="mode">Sensor mode - See ColorSensorMode enum.</param>
public ModeRequest(ColorSensorMode mode)
{
this.Mode = mode;
}
public ColorSensor() :
base(SensorType.ColorFull, SensorMode.Raw)
{
this.colorSensorMode = ColorSensorMode.ColorDetector;
colorMatch = new SortedSet<SensorColor>();
}
/// <summary>
/// Initialize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
public EV3ColorSensor(BrickPortSensor port, ColorSensorMode mode)
: this(port, mode, 1000)
{
}
private BrickSensorType GetEV3Mode(ColorSensorMode mode)
{
BrickSensorType ret = BrickSensorType.EV3_COLOR_M0;
switch (mode)
{
//question is about the various modes and if theyr are supported and how
case ColorSensorMode.Color:
ret = BrickSensorType.EV3_COLOR_M2;
break;
case ColorSensorMode.Reflection:
ret = BrickSensorType.EV3_COLOR_M0;
break;
case ColorSensorMode.Green:
ret = BrickSensorType.EV3_COLOR_M3;
break;
case ColorSensorMode.Blue:
ret = BrickSensorType.EV3_COLOR_M4;
break;
case ColorSensorMode.Ambient:
ret = BrickSensorType.EV3_COLOR_M1;
break;
}
return ret;
}
public void SelectPreviousMode()
{
colorMode = ColorMode.Previous();
return;
}
public void SelectNextMode()
{
colorMode = ColorMode.Next();
return;
}
/// <summary>
/// Initialize a NXT Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTColorSensor(BrickPortSensor port, ColorSensorMode mode, int timeout)
{
brick = new Brick();
Port = port;
colorMode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
public EV3ColorSensor(BrickPortSensor port, ColorSensorMode mode) : this(port, mode, 1000)
{
}
public void SelectPreviousMode()
{
colorMode = ColorMode.Previous();
return;
}
/// <summary>
/// Moves to previous mode
/// </summary>
public void SelectPreviousMode()
{
_colorMode = ColorMode.Previous();
}
/// <summary>
/// Set the LEGO Color Sensor Mode.
/// </summary>
/// <param name="mode">Sensor mode - Select from ColorSensorMode enum</param>
public SetMode(ColorSensorMode mode)
{
base.Body = new ModeRequest(mode);
}
/// <summary>
/// Initialize a NXT Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
public NXTColorSensor(Brick brick, BrickPortSensor port, ColorSensorMode mode) : this(brick, port, mode, 1000)
{
}
/// <summary>
/// constructs a LEGO® MINDSTORMS® EV3 Color Sensor
/// </summary>
public ColorSensor(ColorSensorMode mode)
: base(DeviceType.ColorSensor)
{
Mode = mode;
Value = new ColorSensorValue(ColorSensorColor.None, Mode);
}
private SensorType GetEV3Mode(ColorSensorMode mode) => mode switch
{
/// <summary>
/// Moves to next mode
/// </summary>
public void SelectNextMode()
{
_colorMode = ColorMode.Next();
}
/// <summary>
/// Initialize an EV3 Color Sensor
/// </summary>
/// <param name="brick"></param>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
public EV3ColorSensor(Brick brick, SensorPort port, ColorSensorMode mode) : this(brick, port, mode, 1000)
{
}
internal ColorSensorValue(int value, ColorSensorMode mode)
{
Mode = mode;
Color = ColorSensorColor.None;
Value = value;
}
private void setColorSensorState(ColorSensorState state)
{
switch (state.SensorMode)
{
case ColorSensorMode.Blue:
mode = ColorSensorMode.Red;
break;
case ColorSensorMode.Red:
mode = ColorSensorMode.Green;
break;
case ColorSensorMode.Green:
mode = ColorSensorMode.Blue;
break;
default:
mode = ColorSensorMode.Green;
break;
}
}
public void SelectNextMode()
{
colorMode = ColorMode.Next();
return;
}
internal ColorSensorValue(ColorSensorColor color, ColorSensorMode mode)
{
Mode = mode;
Color = color;
Value = (int)color;
}
