import lejos.nxt.*;
import lejos.nxt.comm.RConsole;
import lejos.robotics.Colors;
import lejos.util.TextMenu;
/**
* Test program for the Lego Color Sensor.
* @author andy
*/
public class ColorSensorTest
{
public static void main(String [] args) throws Exception
{
String ports[] = {"Port 1", "Port 2", "Port 3", "Port 4"};
TextMenu portMenu = new TextMenu(ports, 0, "Sensor port");
String modes[] = {"Full", "Red", "Green", "Blue", "None"};
TextMenu modeMenu = new TextMenu(modes, 0, "Color mode");
int rawVals[] = new int[4];
int vals[] = new int[4];
int portNo = portMenu.select();
if (portNo < 0) return;
for(;;)
{
ColorLightSensor cs = new ColorLightSensor(SensorPort.PORTS[portNo], ColorLightSensor.TYPE_COLORNONE);
int mode = modeMenu.select();
if (mode < 0) return;
cs.setType(ColorLightSensor.TYPE_COLORFULL + mode);
LCD.clear();
while (!Button.ESCAPE.isPressed())
{
LCD.drawString("Mode: " + modes[mode], 0, 0);
LCD.drawString("Color Raw Cal", 0, 1);
if (mode == 0)
{
cs.readValues(vals);
cs.readRawValues(rawVals);
Colors.Color color = cs.readColor();
int colorVal = cs.readValue();
for(int i = 0; i < vals.length; i++)
{
LCD.drawString(modes[i+1], 0, i + 2);
LCD.drawInt(rawVals[i], 5, 6, i + 2);
LCD.drawInt(vals[i], 5, 11, i + 2);
}
LCD.drawString("Color: ", 0, 6);
LCD.drawString(color.name(), 7, 6);
LCD.drawString("Value: ", 0, 7);
LCD.drawInt(colorVal, 5, 7, 7);
}
else
{
LCD.drawString(modes[mode], 0, 3);
int raw = cs.readRawValue();
int val = cs.readValue();
LCD.drawInt(raw, 5, 6, 3);
LCD.drawInt(val, 5, 11, 3);
}
}
LCD.clear();
}
}
}