/// <summary>
/// Reads the RGB color.
/// </summary>
/// <returns>The RGB color.</returns>
public RGBColor ReadRGB()
{
RGBColor rgbColor = null;
if (uartMode == UARTMode.Mode4)
{
byte[] rawBytes = ReadBytes(6);
var r = GetUInt16(rawBytes, 0);
var g = GetUInt16(rawBytes, 2);
var b = GetUInt16(rawBytes, 4);
rgbColor = new RGBColor(r, g, b);
}
return(rgbColor);
}
/// <summary>
/// Reads the sensor value as a string.
/// </summary>
/// <returns>
/// The value as a string
/// </returns>
public override string ReadAsString()
{
RGBColor color = ReadRGBColor();
return("Red:" + color.Red + " green:" + color.Green + " blue:" + color.Blue);
}
/// <summary>
/// Reads the RGB color.
/// </summary>
/// <returns>The RGB color.</returns>
public RGBColor ReadRGB()
{
RGBColor rgbColor = null;
if (uartMode == UARTMode.Mode4)
{
byte[] rawBytes = ReadBytes(6);
rgbColor = new RGBColor(rawBytes[0], rawBytes[2], rawBytes[4]);
}
return rgbColor;
}
/*
* Method to retrieve the colors of the facelets,
* you're welcome to play with it!
* Most likely you'll have to find your own values :)
*/
public static char getColorValue(RGBColor color)
{
char colorvalue;
//if (color.Red > (byte)60) {
if (color.Red >= (byte)50) {
//if (color.Blue >= (byte)90 || (color.Red >= (byte)160 && color.Blue <= (byte)20))
if (color.Blue >= (byte)90 || (color.Red >= (byte)160))
colorvalue = 'W'; // "white";
else if (color.Green > (byte)70) {
colorvalue = 'Y'; // "yellow";
} else {
//if ((float)color.Green/(float)color.Red >= .47 || color.Red >= (byte)75)
if (color.Red > (byte)70 || (float)color.Green/(float)color.Red > .6 )
colorvalue = 'O'; // "orange";
else
colorvalue = 'R'; // "red";
}
} else {
if (color.Green >= (byte)240)
colorvalue = 'Y'; // "yellow";
else if (color.Blue > color.Green) {
if (color.Green >= 30)
colorvalue = 'B'; // "blue";
else
colorvalue = 'Y'; // "yellow";
} else if (color.Green >= (byte)30) {
//if ((float)color.Blue / (float)color.Green >= .34)
if (color.Green >= (byte)65)
colorvalue = 'G'; // "green";
else if ((int)color.Green + (int)color.Blue + (int)color.Red <= (int)300)
colorvalue = 'B'; // "blue";
else
colorvalue = 'W'; // "white";
} else
colorvalue = 'R'; // "red";
}
return colorvalue;
}
public static RGBColor[] CountFacelets(Motor a, EV3ColorSensor sensor)
{
RGBColor[] colors = new RGBColor[8];
a.ResetTacho();
for (int count = 0; count < 8;)
if (count == a.GetTachoCount () / 45 % 8)
colors [count++] = sensor.ReadRGB ();
return colors;
}
private string ScanColor()
{
WaitForSensorReady();
RGBColor rgbColor = colorSensor.ReadRGB();
int max = Math.Max(Math.Max(rgbColor.Red, rgbColor.Green), rgbColor.Blue);
if (max > 255) // Normalize to max 255
{
rgbColor = new RGBColor(
(UInt16)((int)rgbColor.Red * 255 / max),
(UInt16)((int)rgbColor.Green * 255 / max),
(UInt16)((int)rgbColor.Blue * 255 / max));
}
Color color = Color.FromArgb(rgbColor.Red, rgbColor.Green, rgbColor.Blue);
var hue = (int) color.GetHue();
var bright = (int) (color.GetBrightness()*100);
if ((bright < 15 && hue < 50) || (bright <= 22 && hue < 30) || bright < 15)
{
LcdConsole.WriteLine("Color scan error");
return "ERR";
}
//int sat = (int) (color.GetSaturation()*100);
string colorStr = string.Format("R:{0} G:{1} B:{2} H:{3} B:{4} ", rgbColor.Red, rgbColor.Green, rgbColor.Blue, hue, bright);
string c = " ";
if ((bright > 56) ||
(hue > 42 && hue < 90 && (float) rgbColor.Red/rgbColor.Blue < 1.97) ||
(hue >= 90 && hue < 105 && bright > 40))
{
c = "U - WHITE";
}
else if (hue > 80 && hue < 135)
{
c = "B - GREEN";
}
else if (hue > 135 && hue < 260)
{
c = "F - BLUE";
if (((float) rgbColor.Blue)/rgbColor.Red < 1.2f) c = "U - WHITE";
}
else if (hue > 33 && hue < 70)
{
c = "D - YELLOW";
}
else if (hue > 15 && hue < 30)
{
/*if (rgbColor.Blue >= 15 && hue > 15)
{
if (((float) rgbColor.Red)/rgbColor.Blue > 6.10f)
c = "R - ORANGE";
else
c = "L - RED";
}
else
c = "R - ORANGE";*/
c = "R - ORANGE";
}
else if (hue <= 15)
{
c = "L - RED";
}
c += " - " + colorStr;
return c;
}
/// <summary>
/// Reads the RGB color.
/// </summary>
/// <returns>The RGB color.</returns>
public RGBColor ReadRGB()
{
RGBColor rgbColor = null;
if (uartMode == UARTMode.Mode4)
{
byte[] rawBytes = ReadBytes(6);
var r = GetUInt16(rawBytes, 0);
var g = GetUInt16(rawBytes, 2);
var b = GetUInt16(rawBytes, 4);
rgbColor = new RGBColor(r, g ,b);
}
return rgbColor;
}
