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ColorSensor.java
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ColorSensor.java
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.util.Color;
import com.revrobotics.ColorSensorV3;
import com.revrobotics.ColorSensorV3.RawColor;
import com.revrobotics.ColorMatchResult;
import com.revrobotics.ColorMatch;
/**
* This is a simple example to show how the REV Color Sensor V3 can be used to
* detect pre-configured colors.
*/
public class ColorSensor extends Subsystem {
/**
* Change the I2C port below to match the connection of your color sensor
*/
private final I2C.Port i2cPort = I2C.Port.kOnboard;
/**
* A Rev Color Sensor V3 object is constructed with an I2C port as a
* parameter. The device will be automatically initialized with default
* parameters.
*/
private final ColorSensorV3 m_colorSensor = new ColorSensorV3(i2cPort);
/**
* A Rev Color Match object is used to register and detect known colors. This can
* be calibrated ahead of time or during operation.
*
* This object uses a simple euclidian distance to estimate the closest match
* with given confidence range.
*/
private final ColorMatch m_colorMatcher = new ColorMatch();
/**
* Note: Any example colors should be calibrated as the user needs, these
* are here as a basic example.
*/
private final Color kBlueTarget = ColorMatch.makeColor(0.143, 0.427, 0.429);
private final Color kGreenTarget = ColorMatch.makeColor(0.197, 0.561, 0.240);
private final Color kRedTarget = ColorMatch.makeColor(0.561, 0.232, 0.114);
private final Color kYellowTarget = ColorMatch.makeColor(0.361, 0.524, 0.113);
public static String colorString;
@Override
public void initDefaultCommand() {
}
public ColorSensor() {
m_colorMatcher.addColorMatch(kBlueTarget);
m_colorMatcher.addColorMatch(kGreenTarget);
m_colorMatcher.addColorMatch(kRedTarget);
m_colorMatcher.addColorMatch(kYellowTarget);
}
public void detectColor() {
/**
* The method GetColor() returns a normalized color value from the sensor and can be
* useful if outputting the color to an RGB LED or similar. To
* read the raw color, use GetRawColor().
*
* The color sensor works best when within a few inches from an object in
* well lit conditions (the built in LED is a big help here!). The farther
* an object is the more light from the surroundings will bleed into the
* measurements and make it difficult to accurately determine its color.
*/
Color detectedColor = m_colorSensor.getColor();
/**
* Run the color match algorithm on our detected color
*/
ColorMatchResult match = m_colorMatcher.matchClosestColor(detectedColor);
if (match.color == kBlueTarget) {
colorString = "Blue";
} else if (match.color == kRedTarget) {
colorString = "Red";
} else if (match.color == kGreenTarget) {
colorString = "Green";
} else if (match.color == kYellowTarget) {
colorString = "Yellow";
} else {
colorString = "Unknown";
}
/**
* Open Smart Dashboard or Shuffleboard to see the color detected by the
* sensor.
*/
SmartDashboard.putNumber("Red", detectedColor.red);
SmartDashboard.putNumber("Green", detectedColor.green);
SmartDashboard.putNumber("Blue", detectedColor.blue);
SmartDashboard.putNumber("Confidence", match.confidence);
SmartDashboard.putString("Detected Color", colorString);
}
public static String returnColor() {
return colorString;
}
}