NextFTC Hardware/dev.nextftc.hardware.sensors/NextColorDistanceSensor

NextColorDistanceSensor

class NextColorDistanceSensor @JvmOverloads constructor(colorInitializer: () -> NormalizedColorSensor, distanceInitializer: () -> DistanceSensor? = null)

Combines a color sensor and an optional distance sensor into one class. Call update each loop to read the hardware. Use isColor to check against a dev.nextftc.hardware.sensors.colors.ColorProfile.

Example:

val green = ColorProfile(
    space = ColorSpace.HSV,
    color = NextColor.HSV(160f, 0.8f, 0.7f),
    tolerance = NextColor.HSV(15f, 0.3f, 1f),
)

override fun periodic() {
    sensor.update()
    if (sensor.isWithinDistance(4.0) && sensor.isColor(green)) { ... }
}

Use debug in telemetry to calibrate dev.nextftc.hardware.sensors.colors.ColorProfiles.

Author

28shettr

Parameters

colorInitializer

Lazily resolves the backing NormalizedColorSensor.

distanceInitializer

Optional lazy distance sensor.

Constructors

NextColorDistanceSensor

constructor(colorInitializer: () -> NormalizedColorSensor, distanceInitializer: () -> DistanceSensor? = null)

constructor(sensorName: String, hasDistance: Boolean = false)

Constructor to create a NextColorDistanceSensor using a configuration name.

constructor(module: NextLynxModule, bus: Int, hasDistance: Boolean = false)

Constructor to create a NextColorDistanceSensor using a LynxModule and I2C bus number.

Properties

val color: NextColor

Last cached reading as a NextColor. Black until update is called.

var gain: Float

Gain applied to the color sensor. Higher values amplify readings for better detection at distance or in low light. Typical range is 1..4.

Last cached hue in degrees (0..360).

val saturation: Float

Last cached saturation (0..1).

val value: Float

Last cached value/brightness (0..1).

Functions

fun debug(): String

Single-line telemetry string showing current HSV and distance. Useful for calibrating ColorProfiles.

fun getDistance(unit: DistanceUnit = DistanceUnit.CM): Double

Returns the last cached distance converted to the requested unit.

fun isColor(profile: ColorProfile): Boolean

True if the cached color reading matches profile.

isColorWithinDistance

fun isColorWithinDistance(profile: ColorProfile, threshold: Double, unit: DistanceUnit = DistanceUnit.CM): Boolean

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

isWithinDistance

fun isWithinDistance(threshold: Double, unit: DistanceUnit = DistanceUnit.CM): Boolean

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

fun update()

Reads the color sensor (and distance sensor, if present) and refreshes the cache. Call this once per loop, before reading any properties.