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Clean up color sensing using IDs
This commit is contained in:
Eric Rosenbaum
parent
66ff92433e
commit
c25b84d510
1 changed files with 79 additions and 87 deletions
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@ -101,18 +101,30 @@ const BoostPort = {
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};
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/**
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* Enum for indexed colors read by the Boost Vision Sensor
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* Ids for each color sensed by the Boost Vision Sensor
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*/
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const COLOR_ID_ANY = 'any';
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const COLOR_ID_NONE = 'none';
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const COLOR_ID_RED = 'red';
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const COLOR_ID_BLUE = 'blue';
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const COLOR_ID_GREEN = 'green';
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const COLOR_ID_YELLOW = 'yellow';
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const COLOR_ID_WHITE = 'white';
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const COLOR_ID_BLACK = 'black';
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/**
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* Object to look up a color ID by color index
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* @readonly
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* @enum {number}
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*/
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const BoostColor = {
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NONE: 255,
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RED: 9,
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BLUE: 3,
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GREEN: 5,
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YELLOW: 7,
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WHITE: 10,
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BLACK: 0
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const BoostColorIdByIndex = {
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255: COLOR_ID_NONE,
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9: COLOR_ID_RED,
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3: COLOR_ID_BLUE,
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5: COLOR_ID_GREEN,
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7: COLOR_ID_YELLOW,
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10: COLOR_ID_WHITE,
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0: COLOR_ID_BLACK
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};
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/**
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@ -600,8 +612,8 @@ class Boost {
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this._sensors = {
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tiltX: 0,
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tiltY: 0,
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color: BoostColor.NONE,
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previousColor: BoostColor.NONE
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color: COLOR_ID_NONE,
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previousColor: COLOR_ID_NONE
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};
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/**
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@ -661,6 +673,13 @@ class Boost {
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return this._sensors.color;
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}
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/**
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* @return {number} - the previous color value received from the vision sensor.
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*/
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get previousColor () {
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return this._sensors.previousColor;
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}
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/**
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* Access a particular motor on this peripheral.
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* @param {int} index - the index of the desired motor.
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@ -770,8 +789,8 @@ class Boost {
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this._sensors = {
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tiltX: 0,
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tiltY: 0,
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color: BoostColor.NONE,
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previousColor: BoostColor.NONE
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color: COLOR_ID_NONE,
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previousColor: COLOR_ID_NONE
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};
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if (this._ble) {
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@ -929,12 +948,16 @@ class Boost {
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if (this._colorSamples.length > BoostColorSampleSize) {
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this._colorSamples.pop();
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if (this._colorSamples.every((v, i, arr) => v === arr[0])) {
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this._sensors.color = this._colorSamples[0];
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const firstSample = this._colorSamples[0];
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if (BoostColorIdByIndex[firstSample]) {
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this._sensors.previousColor = this._sensors.color;
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this._sensors.color = BoostColorIdByIndex[firstSample];
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}
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} else {
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this._sensors.color = BoostColor.NONE;
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this._sensors.color = COLOR_ID_NONE;
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}
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} else {
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this._sensors.color = BoostColor.NONE;
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this._sensors.color = COLOR_ID_NONE;
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}
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break;
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case BoostIO.MOTOREXT:
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@ -1051,7 +1074,7 @@ class Boost {
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this._sensors.tiltX = this._sensors.tiltY = 0;
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}
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if (type === BoostIO.COLOR) {
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this._sensors.color = BoostColor.NONE;
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this._sensors.color = COLOR_ID_NONE;
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}
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this._ports[portID] = 'none';
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this._motors[portID] = null;
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@ -1096,21 +1119,6 @@ const BoostTiltDirection = {
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ANY: 'any'
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};
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/**
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* Enum for vision sensor colors.
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* @readonly
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* @enum {string}
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*/
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const BoostColorLabel = {
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ANY: 'any',
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RED: 'red',
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BLUE: 'blue',
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GREEN: 'green',
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YELLOW: 'yellow',
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BLACK: 'black',
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WHITE: 'white'
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};
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/**
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* Scratch 3.0 blocks to interact with a LEGO Boost peripheral.
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*/
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@ -1296,7 +1304,7 @@ class Scratch3BoostBlocks {
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COLOR: {
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type: ArgumentType.STRING,
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menu: 'COLOR',
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defaultValue: BoostColorLabel.ANY
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defaultValue: COLOR_ID_ANY
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}
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}
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},
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@ -1545,61 +1553,60 @@ class Scratch3BoostBlocks {
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{
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text: formatMessage({
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id: 'boost.color.red',
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default: BoostColorLabel.RED,
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description: BoostColorLabel.RED
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default: 'red',
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description: 'the color red'
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}),
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value: BoostColorLabel.RED
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value: COLOR_ID_RED
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},
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{
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text: formatMessage({
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id: 'boost.color.blue',
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default: BoostColorLabel.BLUE,
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description: BoostColorLabel.BLUE
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default: 'blue',
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description: 'the color blue'
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}),
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value: BoostColorLabel.BLUE
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value: COLOR_ID_BLUE
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},
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{
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text: formatMessage({
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id: 'boost.color.green',
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default: BoostColorLabel.GREEN,
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description: BoostColorLabel.GREEN
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default: 'green',
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description: 'the color green'
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}),
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value: BoostColorLabel.GREEN
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value: COLOR_ID_GREEN
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},
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{
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text: formatMessage({
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id: 'boost.color.yellow',
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default: BoostColorLabel.YELLOW,
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description: BoostColorLabel.YELLOW
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default: 'yellow',
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description: 'the color yellow'
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}),
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value: BoostColorLabel.YELLOW
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value: COLOR_ID_YELLOW
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},
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{
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text: formatMessage({
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id: 'boost.color.white',
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default: BoostColorLabel.WHITE,
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desription: BoostColorLabel.WHITE
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default: 'white',
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desription: 'the color white'
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}),
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value: BoostColorLabel.WHITE
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value: COLOR_ID_WHITE
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},
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{
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text: formatMessage({
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id: 'boost.color.black',
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default: BoostColorLabel.BLACK,
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description: BoostColorLabel.BLACK
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default: 'black',
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description: 'the color black'
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}),
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value: BoostColorLabel.BLACK
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value: COLOR_ID_BLACK
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},
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{
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text: formatMessage({
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id: 'boost.color.any',
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default: BoostColorLabel.ANY,
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description: BoostColorLabel.ANY
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default: 'any color',
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description: 'any color'
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}),
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value: BoostColorLabel.ANY
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value: COLOR_ID_ANY
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}
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],
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OP: ['<', '>']
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]
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}
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};
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}
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@ -1919,44 +1926,29 @@ class Scratch3BoostBlocks {
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}
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/**
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* Test whether the tilt sensor is currently tilted.
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* Test whether the vision sensor is detecting a certain color.
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* @param {object} args - the block's arguments.
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* @property {Color} COLOR - the color to test.
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* @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction.
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* @return {boolean} - true when the color sensor senses the specified color.
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*/
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whenColor (args) {
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return this._isColor(args);
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}
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/**
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* @return {number} - the vision sensor's color value. Indexed LEGO brick colors.
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*/
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getColor () {
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// To get a string representation, lookup the key of the BoostColor-enum value
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return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color)
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.toLowerCase();
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return this._isColor(args.COLOR);
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}
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/**
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* Test whether the vision sensor is detecting a certain color.
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* @param {number} args - the color to test.
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* @param {string} colorId - the id of the color to test.
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* @return {boolean} - true when the color sensor senses the specified color.
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* @private
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*/
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_isColor (args) {
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switch (args.COLOR) {
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case BoostColorLabel.ANY:
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if (Object.keys(BoostColor).find(key => BoostColor[key])
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.toLowerCase() !== this.getColor()) {
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if (this.getColor() === this._peripheral._sensors.previousColor) {
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return false;
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}
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this._peripheral._sensors.previousColor = this.getColor();
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return true;
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_isColor (colorId) {
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switch (colorId) {
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case COLOR_ID_ANY:
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if (this._peripheral.color === this._peripheral.previousColor) {
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return false;
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}
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break;
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return true;
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default:
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return this.getColor() === args.COLOR;
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return colorId === this._peripheral.color;
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}
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}
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