Color Sensors

NextColorDistanceSensor combines a color sensor and an optional distance sensor into one class.

Creating a NextColorDistanceSensor

Kotlin

// By Lynx Module and I2C bus, recommended
val sensor = NextColorDistanceSensor(RobotController.controlHub, 0)

// Using your configuration name
val sensor = NextColorDistanceSensor("colorSensor")

Java

// By Lynx Module and I2C bus, recommended
NextColorDistanceSensor sensor = new NextColorDistanceSensor(RobotController.controlHub(), 0);

// Using your configuration name
NextColorDistanceSensor sensor = new NextColorDistanceSensor("colorSensor");

Both constructors accept an optional hasDistance parameter:

Parameter	Type	Default	Description
hasDistance	Boolean	false	Whether to also create a distance sensor from the same sensor.

Usage

update()

Reads the color sensor (and distance sensor, if present) and refreshes the cache. Call this once per loop, before reading anything. It’s recommended to put this in your periodic for your Mechanism..

Kotlin

sensor.update()

Java

sensor.update();

isWithinDistance(threshold, unit)

True if the distance sensor senses an object within threshold, in the given unit.

Kotlin

if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM

Java

if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM

isColor(profile)

True if the cached color reading matches the given ColorProfile.

Kotlin

if (sensor.isColor(green)) { ... }

Java

if (sensor.isColor(green)) { ... }

isColorWithinDistance(profile, threshold, unit)

True if the cached color reading matches profile and an object is within threshold, in the given unit.

Kotlin

if (sensor.isColorWithinDistance(green, 4.0)) { ... } //defaults to CM

Java

if (sensor.isColorWithinDistance(green, 4.0)) { ... } //defaults to CM

debug()

Single-line telemetry string showing the current RGB, HSV, and distance readings. Useful for calibrating ColorProfiles.

Kotlin

telemetry.addLine(sensor.debug())

Java

telemetry.addLine(sensor.debug());

NextColor

NextColor stores a color, either as RGB or HSV. HSV is recommended for most cases, since it’s more stable under different lighting conditions.

Kotlin

val lime = NextColor.hsv(100f, 0.9f, 0.85f)

val sameColor = NextColor.rgb(lime.red, lime.green, lime.blue)

Java

NextColor lime = NextColor.Companion.hsv(100f, 0.9f, 0.85f);

NextColor sameColor = NextColor.Companion.rgb(lime.getRed(), lime.getGreen(), lime.getBlue());

ColorProfile

ColorProfile describes a target color and the tolerances, to match your readings. These can be used for isColor() or isColorWithinDistance().

Kotlin

val green = ColorProfile(
    space = ColorSpace.HSV,
    color = NextColor.hsv(130f, 0.7f, 0.6f),
    tolerance = NextColor.hsv(20f, 0.3f, 1f),
)

Java

ColorProfile green = new ColorProfile(
    ColorSpace.HSV,
    NextColor.hsv(130f, 0.7f, 0.6f),
    NextColor.hsv(20f, 0.3f, 1f)
);

Parameter	Type	Description
space	ColorSpace	The color space to compare in: RGB or HSV.
color	NextColor	The target color to match against.
tolerance	NextColor	How far each channel can deviate from color and still count as a match.