Class: LegoEv3::ColorSensor

Inherits:
LegoSensor show all
Defined in:
lib/sensors/color.rb

Instance Attribute Summary

Attributes inherited from LegoSensor

#value

Instance Method Summary collapse

Constructor Details

#initialize(connection, id, port) ⇒ ColorSensor

Returns a new instance of ColorSensor.



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# File 'lib/sensors/color.rb', line 3

def initialize(connection, id, port)
  super(connection, id, port, 'lego-ev3-color')

  @supported_modes = {
    reflect: 'COL-REFLECT',
    ambient: 'COL-AMBIENT',
    color: 'COL-COLOR',
    reflect_raw: 'REF-RAW',
    rgb: 'RGB-RAW'
  }

  @modes_value_parts = {
    reflect: 1,
    ambient: 1,
    color: 1,
    reflect_raw: 2,
    rgb: 3
  }

  @value_to_color = [:none, :black, :blue, :green, :yellow, :red, :white, :brown]

  self.mode = :reflect
end

Instance Method Details

#info ⇒ Object 



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# File 'lib/sensors/color.rb', line 48

def info
  super.merge({
    sub_type: :color,
    mode: @mode,
    value: @value
  })
end

#mode ⇒ Object 



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# File 'lib/sensors/color.rb', line 27

def mode
  @mode = parse_mode(LegoEv3::Commands::LegoSensor.get_mode!(@connection, @id))
end

#mode=(new_value) ⇒ Object 



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# File 'lib/sensors/color.rb', line 31

def mode=(new_value)
  to_set = @supported_modes[new_value.to_sym]
  throw new InvalidModeException(:sensor, :color, new_value, @supported_modes.keys) unless to_set

  LegoEv3::Commands::LegoSensor.set_mode(@connection, @id, to_set)
  LegoEv3::Commands::LegoSensor.get_mode(@connection, @id) do |m|
    @mode = parse_mode(m)
  end

  @connection.flush
  @mode
end

#poll ⇒ Object 



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# File 'lib/sensors/color.rb', line 44

def poll
  @value = parse_value(poll_value(@modes_value_parts[@mode]))
end