Struct ColorSensor

pub struct ColorSensor { /* private fields */ }

LEGO EV3 color sensor.

Implementations

impl ColorSensor

pub const MODE_COL_REFLECT: &'static str = "COL-REFLECT"

Reflected light - sets LED color to red

pub const MODE_COL_AMBIENT: &'static str = "COL-AMBIENT"

Ambient light - sets LED color to blue (dimly lit)

pub const MODE_COL_COLOR: &'static str = "COL-COLOR"

Color - sets LED color to white (all LEDs rapidly cycling)

pub const MODE_REF_RAW: &'static str = "REF-RAW"

Raw Reflected - sets LED color to red

pub const MODE_RGB_RAW: &'static str = "RGB-RAW"

Raw Color Components - sets LED color to white (all LEDs rapidly cycling)

pub const MODE_COL_CAL: &'static str = "COL-CAL"

Calibration ??? - sets LED color to red, flashing every 4 seconds, then goes continuous

pub fn get(port: SensorPort) -> Ev3Result<Self>

Try to get a Self on the given port. Returns None if port is not used or another device is connected.

pub fn find() -> Ev3Result<Self>

Try to find a Self. Only returns a motor if their is exactly one connected, Error::NotFound otherwise.

Examples found in repository

examples/color-sensor.rs (line 7)

fn main() -> Ev3Result<()> {
    let color_sensor = ColorSensor::find()?;
    color_sensor.set_mode_rgb_raw()?;

    loop {
        println!("{:?}", color_sensor.get_rgb()?);

        std::thread::sleep(std::time::Duration::from_secs(1));
    }
}

pub fn list() -> Ev3Result<Vec<Self>>

Extract list of connected ‘Self’

pub fn set_mode_col_reflect(&self) -> Ev3Result<()>

Reflected light - sets LED color to red

pub fn is_mode_col_reflect(&self) -> Ev3Result<bool>

Reflected light - sets LED color to red

pub fn set_mode_col_ambient(&self) -> Ev3Result<()>

Ambient light - sets LED color to blue (dimly lit)

pub fn is_mode_col_ambient(&self) -> Ev3Result<bool>

Ambient light - sets LED color to blue (dimly lit)

pub fn set_mode_col_color(&self) -> Ev3Result<()>

Color - sets LED color to white (all LEDs rapidly cycling)

pub fn is_mode_col_color(&self) -> Ev3Result<bool>

Color - sets LED color to white (all LEDs rapidly cycling)

pub fn set_mode_ref_raw(&self) -> Ev3Result<()>

Raw Reflected - sets LED color to red

pub fn is_mode_ref_raw(&self) -> Ev3Result<bool>

Raw Reflected - sets LED color to red

pub fn set_mode_rgb_raw(&self) -> Ev3Result<()>

Raw Color Components - sets LED color to white (all LEDs rapidly cycling)

Examples found in repository

examples/color-sensor.rs (line 8)

fn main() -> Ev3Result<()> {
    let color_sensor = ColorSensor::find()?;
    color_sensor.set_mode_rgb_raw()?;

    loop {
        println!("{:?}", color_sensor.get_rgb()?);

        std::thread::sleep(std::time::Duration::from_secs(1));
    }
}

pub fn is_mode_rgb_raw(&self) -> Ev3Result<bool>

Raw Color Components - sets LED color to white (all LEDs rapidly cycling)

pub fn set_mode_col_cal(&self) -> Ev3Result<()>

Calibration ??? - sets LED color to red, flashing every 4 seconds, then goes continuous

pub fn is_mode_col_cal(&self) -> Ev3Result<bool>

Calibration ??? - sets LED color to red, flashing every 4 seconds, then goes continuous

pub fn get_color(&self) -> Ev3Result<i32>

Get the color value for the modes COL-REFLECT, COL-AMBIENT, COL-COLOR and REF-RAW.

pub fn get_red(&self) -> Ev3Result<i32>

Red component of the detected color, in the range 0-1020.

pub fn get_green(&self) -> Ev3Result<i32>

Green component of the detected color, in the range 0-1020.

pub fn get_blue(&self) -> Ev3Result<i32>

Blue component of the detected color, in the range 0-1020.

pub fn get_rgb(&self) -> Ev3Result<(i32, i32, i32)>

Red, green and blue components of the detected color, each in the range 0-1020

Examples found in repository

examples/color-sensor.rs (line 11)

fn main() -> Ev3Result<()> {
    let color_sensor = ColorSensor::find()?;
    color_sensor.set_mode_rgb_raw()?;

    loop {
        println!("{:?}", color_sensor.get_rgb()?);

        std::thread::sleep(std::time::Duration::from_secs(1));
    }
}

Trait Implementations

impl Clone for ColorSensor

fn clone(&self) -> ColorSensor

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ColorSensor

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Device for ColorSensor

fn get_attribute(&self, name: &str) -> Attribute

Returns the attribute wrapper for an attribute name.

fn get_address(&self) -> Ev3Result<String>

Returns the name of the port that the motor is connected to.

fn set_command(&self, command: &str) -> Ev3Result<()>

Sends a command to the device controller.

fn get_commands(&self) -> Ev3Result<Vec<String>>

Returns a space separated list of commands that are supported by the device controller.

fn get_driver_name(&self) -> Ev3Result<String>

Returns the name of the driver that provides this device.

impl Sensor for ColorSensor

fn get_bin_data(&self) -> Ev3Result<String>

Reading the file will give the unscaled raw values in the value<N> attributes. Use bin_data_format, num_values and the individual sensor documentation to determine how to interpret the data.

fn get_bin_data_format(&self) -> Ev3Result<String>

Returns the format of the values in bin_data for the current mode. Possible values are:

fn get_decimals(&self) -> Ev3Result<i32>

Returns the number of decimal places for the values in the value<N> attributes of the current mode.

fn get_fw_version(&self) -> Ev3Result<String>

Returns the firmware version of the sensor if available. Currently only NXT/I2C sensors support this.

fn get_mode(&self) -> Ev3Result<String>

Returns the current mode. See the individual sensor documentation for a description of the modes available for each type of sensor.

fn set_mode(&self, mode: &str) -> Ev3Result<()>

Sets the sensor to that mode. See the individual sensor documentation for a description of the modes available for each type of sensor.

fn get_modes(&self) -> Ev3Result<Vec<String>>

Returns a list of the valid modes for the sensor.

fn get_num_values(&self) -> Ev3Result<i32>

Returns the number of value<N> attributes that will return a valid value for the current mode.

fn get_poll_ms(&self) -> Ev3Result<i32>

Returns the polling period of the sensor in milliseconds. Returns -EOPNOTSUPP if changing polling is not supported. Note: Setting poll_ms too high can cause the input port auto detection to fail. If this happens, use the mode attribute of the port to force the port to nxt-i2c mode. Values must not be negative.

fn set_poll_ms(&self, poll_ms: i32) -> Ev3Result<()>

Sets the polling period of the sensor in milliseconds. Setting to 0 disables polling. Note: Setting poll_ms too high can cause the input port auto detection to fail. If this happens, use the mode attribute of the port to force the port to nxt-i2c mode. Values must not be negative.

fn get_units(&self) -> Ev3Result<String>

Returns the units of the measured value for the current mode. May return empty string if units are unknown.

fn get_value(&self, index: u8) -> Ev3Result<i32>

Returns the current value{index} value if available.

fn get_value0(&self) -> Ev3Result<i32>

Returns the current value0 value if available.

fn get_value1(&self) -> Ev3Result<i32>

Returns the current value1 value if available.

fn get_value2(&self) -> Ev3Result<i32>

Returns the current value2 value if available.

fn get_value3(&self) -> Ev3Result<i32>

Returns the current value3 value if available.

fn get_value4(&self) -> Ev3Result<i32>

Returns the current value4 value if available.

fn get_value5(&self) -> Ev3Result<i32>

Returns the current value5 value if available.

fn get_value6(&self) -> Ev3Result<i32>

Returns the current value6 value if available.

fn get_value7(&self) -> Ev3Result<i32>

Returns the current value7 value if available.

fn get_text_value(&self) -> Ev3Result<String>

Returns a space delimited string representing sensor-specific text values. Returns -EOPNOTSUPP if a sensor does not support text values.