/// <summary>
/// Initialize the Color Sensor state
/// </summary>
private void InitializeState()
{
if (_state == null)
{
_state = new ColorSensorState();
// Default to Color mode if no config file
_state.SensorMode = ColorSensorMode.Color;
}
if (_state.PollingFrequencyMs == 0)
_state.PollingFrequencyMs = Contract.DefaultPollingFrequencyMs;
_state.TimeStamp = DateTime.MinValue;
_state.Reading = 0;
_state.Connected = false;
if (_genericState == null)
_genericState = new pxanalogsensor.AnalogSensorState();
// Analog range is 0-1023 (10-bit A/D)
_genericState.RawMeasurementRange = 1023.0;
_genericState.RawMeasurement = 0.0;
_genericState.NormalizedMeasurement = 0.0;
_genericState.TimeStamp = DateTime.MinValue;
// Set the hardware identifier from the connected motor port.
_genericState.HardwareIdentifier = NxtCommon.HardwareIdentifier(_state.SensorPort);
}
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;
}
}
