// The recognize() method returns true if the object is a blue block
public boolean recognize() {
// Boolean that determines whether or not to start detecting what kind of object is in front
boolean isRecognizing = true;
while (isRecognizing) {
// The robot will drive slowly if the light reads under 300, which means an object is closeby
while (color.getNormalizedLightValue() < 300) {
robot.setForwardSpeed(2);
}
// When the robot is close enough to the object, it will stop then turn on its
// blue light which gives two noticeable different light values for a wooden and blue
// block
robot.setForwardSpeed(0);
color.setFloodlight(Color.BLUE);
// If the light value of blue reads over 250, it is a blue block
if (color.getNormalizedLightValue() >= 250) {
Sound.beep();
LCD.drawString("Blue styrofoam block", 3, 5);
// Turn the default light back on after analyzing an object
color.setFloodlight(true);
return true;
} else { // If it is not a blue block, it is a wooden block
Sound.buzz();
LCD.drawString("Wooden block", 3, 5);
// Turn the default light back on after analyzing an object
color.setFloodlight(true);
}
// Set the boolean to false to break out of the while loop and stop analyzing the object
isRecognizing = false;
}
// Default return value. It should never get here but JAVA requires a return type
return false;
}
public ObjectRecognition(UltrasonicSensor sensor, ColorSensor colorSensor, TwoWheeledRobot robo) {
// The constructor for objectRecognitino object will take an ultrasonic sensor, color sensor,
// and a robot type
ultrasonic = sensor;
color = colorSensor;
robot = robo;
// The color of the light sensor will be set to red until an object is sensed
// (value > 280) then it will be turned to blue
color.setFloodlight(true);
}
public static ColorSensor create(OpMode context, ColorSensor target) {
I2cController controller;
int port;
int i2cAddr8Bit;
if (target instanceof AdafruitI2cColorSensor) {
AdafruitI2cColorSensor colorTarget = (AdafruitI2cColorSensor) target;
controller = colorTarget.getI2cController();
port = colorTarget.getPort();
i2cAddr8Bit = ADDRESS_I2C;
} else
throw new IllegalArgumentException(
String.format("incorrect color sensor class: %s", target.getClass().getSimpleName()));
return create(context, controller, port, i2cAddr8Bit, target);
}
