void ColorSensor::setup() {
pinMode(_led_pin, OUTPUT);
Wire.begin();
delay(1);
setPassive();
}
Team ColorSensor::getTeam() {
setActive();
delay(10);
RGBC color = read();
setPassive();
uint16_t rdiffg = (10 * color.red) / color.green;
uint16_t rdiffb = (10 * color.red) / color.blue;
if (rdiffg > 20 && rdiffb > 20) {
return RED;
} else if (rdiffg < 9 && rdiffb > 11) {
return GREEN;
} else if (rdiffg < 9 && rdiffb < 9) {
return BLUE;
} else if (rdiffg < 13 && rdiffb > 20) {
return YELLOW;
} else {
return UNDEF;
}
}
bool ColorSensor::isCovered() {
setPassive();
delay(10);
RGBC color = read();
return color.clear < 400;
}
void Runner :: notifySendingTermination ()
{
printDebugMessage ("I am informed that everyone received my termination notification.");
setPassive ();
}
