颜色传感器

介绍

The colorsensor class is used to access data from the Color Sensor. It uses reflected light to detect objects, identify colors, and measure brightness and hue.

类构造函数

colorsensor Color1 = colorsensor(index);

类析构函数

Destroys the colorsensor object and releases associated resources.

virtual ~colorsensor();

参数

范围	类型	描述
index	int32_t	The Smart Port that the Color Sensor is connected to, written as PORTx, where x is the port number (for example, PORT1).

示例

// Create an colorsensor instance in Port 1
colorsensor Color1 = colorsensor(PORT1);

成员功能

The colorsensor class includes the following member functions:

• setLight – Turns the Color Sensor’s LED on, off, or to a set brightness level.

• isNearObject – Returns whether or not an object is close to the Color Sensor.

• detects – Returns whether or not a specified color is detected by the Color Sensor.

• colorname – Returns the name of the color detected by the Color Sensor.

• brightness – Returns the detected brightness of an object.

• hue – Returns the detected hue value.

Before calling any colorsensor member functions, an colorsensor instance must be created, as shown below:

/* This constructor is required when using VS Code.
Color Sensor configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create an colorsensor instance in Port 1
colorsensor Color1 = colorsensor(PORT1);

setLight

设置颜色传感器 LED 的亮度。灯光可以帮助颜色传感器更清晰地检测物体和颜色。

如果颜色传感器的灯熄灭，将灯光功率设置为 0% 以上即可打开灯。

如果颜色传感器的指示灯亮着，将灯光功率设置为 0% 将关闭指示灯。

百分比越高，灯光越亮；百分比越低，灯光越暗。

Available Functions

1 — Turns the led on or off using ledState.

void setLight( 
  ledState  state );

2 — 将 LED 灯调至特定亮度。

void setLight( 
  int32_t      intensity, 
  percentUnits units = percent );

Parameters

范围	类型	描述
state	ledState	Sets the LED on or off. ledState::on turns the LED on at 100% brightness. ledState::off turns it off.
intensity	int32_t	灯光亮度级别，范围从 0 到 100。
units	percentUnits	The unit that represents the light intensity: percent / pct — percent

Return Values

此函数不返回值。

Examples

// Set the light power to 50 percent.
Color1.setLight(50, percent);

isNearObject

如果颜色传感器检测到附近物体，则返回该值。

Available Functions

bool  isNearObject();

Parameters

此函数不接受任何参数。

Return Values

此函数返回一个布尔值，指示是否检测到附近物体：

• true – The Color Sensor detects an object.

• false – The Color Sensor does not detect an object.

Examples

// If an object is detected by the Color Sensor, print
// "near object".
if (Color1.isNearObject()){
  Brain.Screen.print("near object");
}

detects

返回颜色传感器是否检测到指定颜色。

Available Functions

1 — Detects a colorType.

bool detects( 
  colorType  color );

2 — Detects a vex::color.

bool detects( 
  vex::color  color );

Parameters

参数	类型	描述
color	colorType	A valid color: blue – Hue value between 196° and 229° blue_green – Hue value between 140° and 195° blue_violet – Hue value between 230° and 239° green – Hue value between 84° and 139° orange – Hue value between 21° and 30° purple red – Hue value between 350° and 14° red_orange – Hue value between 15° and 20° red_violet – Hue value between 281° and 350° violet – Hue value between 240° and 280° white yellow – Hue value between 54° and 74° yellow_green – Hue value between 75° and 83° yellow_orange – Hue value between 31° and 53°
color	vex::color	有效的自定义颜色，或上面列出的预定义颜色之一。

Return Values

• true – The Color Sensor detects the color.

• false – The Color Sensor does not detect the color.

Examples

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive until a red object is seen
  Drivetrain.drive(forward);
  while (true) {
    if (Color1.detects(red)) {
      Drivetrain.stop();
      break;
    }
    wait(0.5, seconds);
  }
}

colorname

返回检测到的最接近的匹配颜色。

Available Functions

colorType colorname();

Parameters

此函数不接受任何参数。

Return Values

直接打印时，会显示与该颜色关联的数值：

颜色	数值
none	0
red	1
green	2
blue	3
white	4
yellow	5
orange	6
purple	7
cyan	8
red_violet	9
violet	10
blue_violet	11
blue_green	12
yellow_green	13
yellow_orange	14
red_orange	15
black	16
transparent	17

Notes

• The function convertColorToString is automatically created by VEXcode when a Color Sensor is configured in the Devices window. It is only available inside VEXcode IQ projects and will not work in other environments.

• When using colorname outside of VEXcode, comparisons should be made directly with a colorType value — any color that begins with colorType:: (for example, colorType::green or colorType::red).

Examples

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Continuously check the detected color
  while (true) {

    // Compare the color name with "red"
    if (convertColorToString(Color1.colorname()) == "red") {
      Brain.Screen.print("Red object!");
    } else {
      Brain.Screen.print("Not red");
    }

    wait(0.5, seconds);
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
  }
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Continuously check the detected color
  while (true) {

    // Compare the color name with the colorType
    if (Color1.colorname() == colorType::red) {
      Brain.Screen.print("Red object!");
    } else {
      Brain.Screen.print("Not red");
    }

    wait(0.5, seconds);
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
  }
}

brightness

返回物体反射的光量。

百分比越高，意味着反射回颜色传感器的光线越多；百分比越低，意味着反射回的光线越少。

Available Functions

double  brightness(bool bRaw = false);

Parameters

范围	类型	描述
bRaw	bool	A Boolean value to read raw brightness data instead of percentage. The default is false.

Return Values

表示颜色传感器检测到的亮度值的双精度浮点数，范围为 0 - 100%；或者表示传感器检测到的原始数据的双精度浮点数。

Examples

// Set a variable, brightness, to the value of the brightness
// detected by the Color Sensor
double brightness = Color1.brightness();

// Print the brightness detected by the Color Sensor to the
// Brain's screen
Brain.Screen.print(brightness);

hue

返回颜色传感器检测到的色调。

色相是用色轮上的数字来描述颜色的一种方法。

Available Functions

double hue();

Parameters

此函数不接受任何参数。

Return Values

表示颜色传感器检测到的色调值的双精度浮点数，范围为 0 — 359.00。

Examples

// Set a variable, hue, to the value of the hue detected
// by the Color Sensor.
double hue = Color1.hue();