ColorSensor

ColorSensor

Using the MasqColorSensor is easy once you understand how to use it. To begin with start by defining it like a normal MasqHardware Object. MasqColorSensor beaconColor = new MasqColorSensor("beaconColor", after this the object requires you to type in the i2c address if you just have a factory color sensor from modern robotics type 60 and move on, make sure to set the color sensor as an i2c device in the config. if you have multiple color sensors or a color sensor that has the i2c address changes continue reading. i2c addresses are encoded in hexa-decimal thats what the 0x signifys. To decrypt from hexadecimal multiple the first number after the 0x by 16 and the the a,b,c,d,e,f after represent 10, 11, 12, 13, 14, 15 add this to the product you get from the first number. For example if you had 0x3e you take the 3 and multiply it by 16 which is 48 and then add 14 which is e 62. To find the i2x address of your color sensor you can use modern robotics core device discovery. the resulting number will be you second argument. In conclusion if you had a color sensor who's i2c address was 0x40 we would define it as MasqColorSensor beaconColor = new MasqColorSensor("beaconColor", 64);

Functions:

Just like the normal color sensor you can pull the red blue green alpha values get the hue and saturation however with this sensor being i2c we have eliminated the issue where after a while the enableLed(true); stops working. The best part is the addition of color number a feature not offered by the FTC SDK that gives accurate color readings. to use it simply call the function colorSensor.colorNumber(); we have also pre built in isBlue(); isRed(); isWhite(); functions.