AForge.Robotics.Lego.NXTBrick.ReadHiTechnicColorSensor C# (CSharp) Method

NXTBrick Class Documentation Mostrar archivo Open project: holisticware-admin/MonoVersal.AForgeNET

ReadHiTechnicColorSensor() public method

Read data from HiTechnic color sensor (also color sensor v2).

The method retrieves the color valuse of a HiTechnic color sensor by communicating with I2C device (writing to and reading from low speed bus). The method first sends { 0x02, 0x42 } command to the specified device using LsWrite( Sensor, byte[], int ) method. Then it waits until there is something available to read using LsGetStatus method. Finally it reads sensor's value using LsRead device. See this page for details.

Before using this method it is required to use SetSensorMode( Sensor, SensorType, SensorMode, bool ) method to set sensor's type to SensorType.Lowspeed mode. It should be done once after NXT brick is powered on. If sensor's type is not set properly, the method will generate an exception. Also after setting sensor's type application may need to wait a bit to give device some time to initialize.

NXT Firmware version 1.24 must be loaded in the NXT for the HiTechnic color sensor to operate correctly. You can check the firmware version using the GetVersion method.

The color sensor V2 must be configured to match the mains electricity frequency for your country. Details on how to configure the Color Sensor V2 can be found at

public ReadHiTechnicColorSensor ( NXTBrick sensor, int &colorNumber, int &redValue, int &greenValue, int &blueValue ) : bool
sensor	NXTBrick	Sensor to read from.
colorNumber	int	Found color number.
redValue	int	Found red value.
greenValue	int	Found green value.
blueValue	int	Found blue value.
return	bool

        public bool ReadHiTechnicColorSensor( NXTBrick.Sensor sensor, ref int colorNumber, ref int redValue, ref int greenValue, ref int blueValue )
        {
            byte[] command = { 0x02, 0x42 };
            byte[] readBuffer = new byte[4];

            int bytesReady;
            int bytesRead;

            LsWrite( sensor, command, readBuffer.Length );
            LsGetStatus( sensor, out bytesReady );
            LsRead( sensor, readBuffer, out bytesRead );

            if ( bytesRead == readBuffer.Length )
            {
                colorNumber = readBuffer[0];
                redValue    = readBuffer[1];
                greenValue  = readBuffer[2];
                blueValue   = readBuffer[3];
                return true;
            }

            return false;
        }

NXTBrick

ClearSensor

Connect

Disconnect

GetBatteryPower

GetDeviceInformation

GetMotorState

GetSensorValue

GetUltrasonicSensorsValue

GetVersion

IsAlive

LsGetStatus