cube

Class ColorCorrector

java.lang.Object

cube.ColorCorrector

public class ColorCorrector
extends Object

This class intended to correct color sensors error.
The NXT's color sensor has difficulties to distinguish between Red and Orange colors. Since the colors at the cube's corners can be determine by its neighbors, we can detect and correct any Red/Orange mix up at the corners.

This is how the class represent the corner:

    +--------+--------+
    |        |        |
    | corner | right  |
    |        |        |
    |        |        |
    +--------+--------+
    |        |
    |  left  |
    |        |
    |        |
    +--------+

Whereas each of the squares above belong to another cube's face

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
private static class	ColorCorrector.Corner This enumeration represent all corners of cube's face:

Field Summary

Fields

Modifier and Type	Field and Description
private static ColorCorrector.Corner[][]	LEFT_CORNERS_CORNER
private static Orientation[][]	LEFT_CORNERS_FACE
private static Colors[][]	RED_ORANGE_CORNERS
private static ColorCorrector.Corner[][]	RIGHT_CORNERS_CORNER
private static Orientation[][]	RIGHT_CORNERS_FACE

Constructor Summary

Constructors

Constructor and Description
ColorCorrector()

Method Summary

Methods

Modifier and Type	Method and Description
(package private) static void	fixCorners(Cube.Face[] faces) The fix routine.
private static Colors	getCornerLeftColor(Cube.Face[] faces, Cube.Face face, ColorCorrector.Corner corner) Get the left color given the corner
private static Colors	getCornerRightColor(Cube.Face[] faces, Cube.Face face, ColorCorrector.Corner corner) Get the right color given the corner

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

RED_ORANGE_CORNERS

private static final Colors[][] RED_ORANGE_CORNERS

LEFT_CORNERS_CORNER

private static final ColorCorrector.Corner[][] LEFT_CORNERS_CORNER

LEFT_CORNERS_FACE

private static final Orientation[][] LEFT_CORNERS_FACE

RIGHT_CORNERS_CORNER

private static final ColorCorrector.Corner[][] RIGHT_CORNERS_CORNER

RIGHT_CORNERS_FACE

private static final Orientation[][] RIGHT_CORNERS_FACE

Constructor Detail

ColorCorrector

public ColorCorrector()

Method Detail

getCornerLeftColor

private static Colors getCornerLeftColor(Cube.Face[] faces,
                        Cube.Face face,
                        ColorCorrector.Corner corner)

Get the left color given the corner

Parameters:

faces - All cube's faces

face - Current face we're handling

corner - For which corner we want its left

Returns:

The color to the left of the corner

See Also:

ColorCorrector.Corner

getCornerRightColor

private static Colors getCornerRightColor(Cube.Face[] faces,
                         Cube.Face face,
                         ColorCorrector.Corner corner)

Get the right color given the corner

Parameters:

faces - All cube's faces

face - Current face we're handling

corner - For which corner we want its right

Returns:

The color to the right of the corner

See Also:

ColorCorrector.Corner

fixCorners

static void fixCorners(Cube.Face[] faces)

The fix routine.

The method goes over all the cube's Red/Orange corners and fix them according to their neighbors

Parameters:

faces - All cube's faces