import lejos.robotics.Color; //导入依赖的package包/类
public static void main(final String[] args) {
    LOG.info("Starting robot");
    setupShutdownHooks();
    clearLCD();
    lcd.setFont(new Font(MONOSPACED, PLAIN, 10));
    lcd.setColor(Color.BLACK);
    lcd.drawString("Hello Lego!", 10, 10, 0);
    lcd.refresh();
    LOG.info("Hello Lego!");
    Button.waitForAnyPress();
    final AtomicBoolean paused = new AtomicBoolean(false);
    setupRobotControlListeners(paused);
    final Behavior[] behaviors = { new DriveForwardBehavior(paused, leftMotor, rightMotor),
            new FindRedBehavior(colorSensor, leftMotor, rightMotor, paused),
            new BackOffBehavior(irSensor, leftMotor, rightMotor, paused) };
    final Arbitrator arbitrator = new Arbitrator(behaviors);
    LOG.info("Launching behaviors");
    arbitrator.go();
    LOG.warn("Arbitrator quit.");
    clearLCD();
    LOG.info("Shutting down.");

}
 

import lejos.robotics.Color; //导入依赖的package包/类
ColorSensor(Port port) {
    colorId = Observable.using(
                    () -> createSensor(port),
                    sensor -> new Sampler(() -> sensor.getColorIDMode()).sample(),
                    sensor -> closeSensor(sensor)
            )
            .share()
            .map(sample -> sample.values[sample.offset])
            .map(ColorId::colorId)
            .distinctUntilChanged();

    this.color = Observable.using(
                    () -> createSensor(port),
                    sensor -> new Sampler(() -> sensor.getRGBMode()).sample(),
                    sensor -> closeSensor(sensor)
            )
            .share()
            .map(sample -> new Color(
                    Math.round(sample.values[sample.offset]),
                    Math.round(sample.values[sample.offset + 1]),
                    Math.round(sample.values[sample.offset + 2])))
            .distinctUntilChanged(color ->
                    "r: " + color.getRed() +
                            ", g: " + color.getGreen() +
                            ", b: " + color.getBlue() );
}
 

import lejos.robotics.Color; //导入依赖的package包/类
/** {@inheritDoc}
 */    
@Override
public boolean setFloodlight(int color)
{
    String mode;
    switch (color) {
        case Color.BLUE:
            mode = COL_AMBIENT;
            break;
        case Color.WHITE:
            mode = COL_COLOR;
            break;
        case Color.RED:
            mode = COL_REFLECT;
            break;
        case Color.NONE:
            mode = COL_RESET;
            break;
        default:
            // TODO: Should we ignore a wrong color or throw an exception?
            throw new IllegalArgumentException("Invalid color specified");
    }
    switchMode(mode, SWITCH_DELAY);
    return true;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
/** {@inheritDoc}
 */    
@Override
public boolean setFloodlight(int color)
{
    int mode;
    switch (color)
    {
    case Color.BLUE:
        mode = COL_AMBIENT;
        break;
    case Color.WHITE:
        mode = COL_COLOR;
        break;
    case Color.RED:
        mode = COL_REFLECT;
        break;
    default:
        // TODO: Should we ignore a wrong color or throw an exception?
        throw new IllegalArgumentException("Invalid color specified");
    }
    switchMode(mode, SWITCH_DELAY);
    // TODO Auto-generated method stub
    return true;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
/**
 * Get a list of all supported colors for the Mindstorms EV3 Color Sensor
 * @return
 */
private String[] getColors() {
  Field[] names = Color.class.getFields();
  String[] list = new String[names.length];
  for (int i = 0; i < list.length; i++) {
    list[i] = names[i].getName();
  }
  return list;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
public boolean setFloodlight(int color) {
	if(color == Color.RED) {
	    setFloodlight(true);
		return true;
	} else if (color == Color.NONE) {
           setFloodlight(false);
		return true;
	} else return false;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
/** {@inheritDoc}
 */    
@Override
public int getColorID()
{
    setFloodlight(Color.WHITE);
    return colorMap[port.getByte()];
}
 

import lejos.robotics.Color; //导入依赖的package包/类
public static String convertColorToString(int colorID) {
    switch (colorID) {
        case Color.BLACK:
            return "Black";
        case Color.BLUE:
            return "Blue";
        case Color.CYAN:
            return "Cyan";
        case Color.DARK_GRAY:
            return "Dark Gray";
        case Color.GRAY:
            return "Gray";
        case Color.GREEN:
            return "Green";
        case Color.LIGHT_GRAY:
            return "Light Gray";
        case Color.MAGENTA:
            return "Magenta";
        case Color.NONE:
            return "No Color";
        case Color.ORANGE:
            return "Orange";
        case Color.PINK:
            return "Pink";
        case Color.RED:
            return "Red";
        case Color.WHITE:
            return "White";
        case Color.YELLOW:
            return "Yellow";
        default:
            return "No Color";
    }
}
 

import lejos.robotics.Color; //导入依赖的package包/类
private boolean continueSearch() {
    colorSampler.fetchSample(sample, 0);
    final boolean takeControl = Color.RED != (int) sample[0] && !paused.get();
    LOG.info("Continue search: {}", takeControl);
    return takeControl;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
@Override
public boolean takeControl() {
    colorSampler.fetchSample(sample, 0);
    return Color.RED == (int) sample[0] && !paused.get();
}
 

import lejos.robotics.Color; //导入依赖的package包/类
public static void clearLCD() {
    lcd.setColor(Color.WHITE);
    lcd.fillRect(0, 0, lcd.getWidth(), lcd.getHeight());
    lcd.refresh();
}
 

import lejos.robotics.Color; //导入依赖的package包/类
public LineDetectors() {
	this.leftSensor = new ColorSensor(SensorPort.S4, Color.RED);
	this.rightSensor = new ColorSensor(SensorPort.S3, Color.RED);
	this.lastDetectLeft = this.lastDetectRight = 0;
	this.stopped = false;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
public static void main(String[] args) {
		EV3 ev3 = (EV3) BrickFinder.getLocal();
		TextLCD lcd = ev3.getTextLCD();
		Keys keys = ev3.getKeys();
		
		EV3ColorSensor colorSensor = new EV3ColorSensor(SensorPort.S3);
		SensorMode color = colorSensor.getColorIDMode();
		float[] sample = new float[color.sampleSize()];
		color.fetchSample(sample, 0);
		int colorId = (int)sample[0];
		String colorName = "";
		switch(colorId){
			case Color.NONE: colorName = "NONE"; break;
			case Color.BLACK: colorName = "BLACK"; break;
			case Color.BLUE: colorName = "BLUE"; break;
			case Color.GREEN: colorName = "GREEN"; break;
			case Color.YELLOW: colorName = "YELLOW"; break;
			case Color.RED: colorName = "RED"; break;
			case Color.WHITE: colorName = "WHITE"; break;
			case Color.BROWN: colorName = "BROWN"; break;
		}
		lcd.drawString(colorId + " - " + colorName, 0, 0);
		keys.waitForAnyPress();

//		EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1);
//		SensorMode touch = touchSensor.getTouchMode();
//		float[] sample = new float[touch.sampleSize()];
//		
//		RegulatedMotor mA = new EV3LargeRegulatedMotor(MotorPort.A);
//		RegulatedMotor mB = new EV3LargeRegulatedMotor(MotorPort.B);
//		RegulatedMotor mC = new EV3LargeRegulatedMotor(MotorPort.C);
//		mA.resetTachoCount();
//		mB.resetTachoCount();
//		mC.resetTachoCount();
//		
//		mA.rotateTo(760);
//		int angle = mA.getTachoCount(); // should be -360
//		lcd.drawInt(angle, 0, 0);
//		keys.waitForAnyPress();
//		
//		mB.setSpeed(720);// 2 RPM
//		mC.setSpeed(720);
//		mB.forward();
//		mC.forward();
//		Delay.msDelay(1000);
//		mB.stop();
//		mC.stop();
//		mB.rotateTo(360);
//		mB.rotate(-720, true);
//		while (mB.isMoving())
//			Thread.yield();
//		angle = mB.getTachoCount(); 
//		lcd.drawInt(angle, 0, 1);
//		
//		mA.rotateTo(-100, true);
//		do{
//			touch.fetchSample(sample, 0);
//		} while (mA.isMoving() && sample[0] == 0);
//		mA.stop();	
//		
//		angle = mA.getTachoCount(); // should be -360
//		lcd.drawInt(angle, 0, 2);
//		keys.waitForAnyPress();
	}
 

import lejos.robotics.Color; //导入依赖的package包/类
/** {@inheritDoc}
 */    
@Override
public int getColorID() {
    setFloodlight(Color.WHITE);
    return 0; //colorMap[ports.getByte()];
}
 

import lejos.robotics.Color; //导入依赖的package包/类
/** {@inheritDoc}
 */    
@Override
public boolean isFloodlightOn()
{
    return lightColor[currentMode+1] != Color.NONE;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
@ScriptApi
public boolean isNoColor() {
  return value == Color.NONE;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
@ScriptApi
public boolean isBlack() {
  return value == Color.BLACK;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
@ScriptApi
public boolean isBlue() {
  return value == Color.BLUE;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
@ScriptApi
public boolean isGreen() {
  return value == Color.GREEN;
}
 

import lejos.robotics.Color; //导入依赖的package包/类
@ScriptApi
public boolean isYellow() {
  return value == Color.YELLOW;
}