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distance and color sensor added
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‎.idea/workspace.xml‎

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‎src/content/docs/hardware/sensors/color-sensor.mdx‎

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---
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title: Color Sensors
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description: Reading color and distance with NextColorDistanceSensor
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sidebar:
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order: 2
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---
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import { Tabs, TabItem } from '@astrojs/starlight/components';
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`NextColorDistanceSensor` combines a color sensor and an optional distance sensor into one class.
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## Creating a NextColorDistanceSensor
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val sensor = NextColorDistanceSensor(RobotController.controlHub, 0) // By Lynx Module and I2C bus, recommended
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val sensor = NextColorDistanceSensor("colorSensor") // Using your configuration name
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```
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</TabItem>
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<TabItem label="Java">
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```java
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NextColorDistanceSensor sensor = new NextColorDistanceSensor(RobotController.getControlHub(), 0); // By Lynx Module and I2C bus, recommended
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NextColorDistanceSensor sensor = new NextColorDistanceSensor("colorSensor"); // Using your configuration name
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```
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</TabItem>
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</Tabs>
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Both constructors accept an optional `hasDistance` parameter:
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| Parameter | Type | Default | Description |
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|---|---|---|---|
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| `hasDistance` | `Boolean` | `false` | Whether to also create a distance sensor from the same sensor. |
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## Usage
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### `update()`
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Reads the color sensor (and distance sensor, if present) and refreshes the cache. Call this once per loop, before reading anything. It's recommended to put this in your `periodic` for your `Mechanism`..
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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sensor.update()
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```
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</TabItem>
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<TabItem label="Java">
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```java
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sensor.update();
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```
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</TabItem>
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</Tabs>
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### `isWithinDistance(threshold, unit)`
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True if the distance sensor senses an object within `threshold`, in the given unit.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM
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```
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</TabItem>
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<TabItem label="Java">
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```java
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if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM
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```
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</TabItem>
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</Tabs>
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### `isColor(profile)`
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True if the cached color reading matches the given `ColorProfile`.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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if (sensor.isColor(green)) { ... }
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```
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</TabItem>
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<TabItem label="Java">
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```java
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if (sensor.isColor(green)) { ... }
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```
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</TabItem>
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</Tabs>
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### `isColorWithinDistance(profile, threshold, unit)`
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True if the cached color reading matches `profile` and an object is within `threshold`, in the given unit.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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if (sensor.isColorWithinDistance(green, 4.0)) { ... } //defaults to CM
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```
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</TabItem>
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<TabItem label="Java">
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```java
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if (sensor.isColorWithinDistance(green, 4.0)) { ... } //defaults to CM
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```
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</TabItem>
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</Tabs>
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### `debug()`
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Single-line telemetry string showing the current RGB, HSV, and distance readings. Useful for calibrating `ColorProfile`s.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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telemetry.addLine(sensor.debug())
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```
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</TabItem>
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<TabItem label="Java">
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```java
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telemetry.addLine(sensor.debug());
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```
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</TabItem>
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</Tabs>
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## NextColor
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`NextColor` stores a color, either as RGB or HSV. HSV is recommended for most cases, since it's more stable under different lighting conditions.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val lime = NextColor.hsv(100f, 0.9f, 0.85f)
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val sameColor = NextColor.rgb(lime.red, lime.green, lime.blue)
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```
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</TabItem>
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<TabItem label="Java">
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```java
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NextColor lime = NextColor.hsv(100f, 0.9f, 0.85f);
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NextColor sameColor = NextColor.rgb(lime.getRed(), lime.getGreen(), lime.getBlue());
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```
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</TabItem>
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</Tabs>
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## ColorProfile
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`ColorProfile` describes a target color and the tolerances, to match your readings. These can be used for `isColor()` or `isColorWithinDistance()`.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val green = ColorProfile(
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space = ColorSpace.HSV,
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color = NextColor.hsv(130f, 0.7f, 0.6f),
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tolerance = NextColor.hsv(20f, 0.3f, 1f),
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)
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```
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</TabItem>
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<TabItem label="Java">
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```java
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ColorProfile green = new ColorProfile(
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ColorSpace.HSV,
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NextColor.hsv(130f, 0.7f, 0.6f),
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NextColor.hsv(20f, 0.3f, 1f)
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);
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```
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</TabItem>
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</Tabs>
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| Parameter | Type | Description |
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|---|---|---|
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| `space` | `ColorSpace` | The color space to compare in: `RGB` or `HSV`. |
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| `color` | `NextColor` | The target color to match against. |
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| `tolerance` | `NextColor` | How far each channel can deviate from `color` and still count as a match. |

‎src/content/docs/hardware/sensors/digital-sensor.mdx‎

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---
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title: Digital Sensor
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title: Digital Sensors
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description: Reading digital sensors with NextDigitalSensor
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sidebar:
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order: 3

‎src/content/docs/hardware/sensors/distance-sensor.mdx‎

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---
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title: Distance Sensors
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description: Reading distance with NextDistanceSensor
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sidebar:
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order: 2
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---
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import { Tabs, TabItem } from '@astrojs/starlight/components';
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`NextDistanceSensor` is a lightweight wrapper for a distance sensor that caches the last reading.
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## Creating a NextDistanceSensor
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val sensor = NextDistanceSensor(RobotController.controlHub, 0) // By Lynx Module and I2C bus, recommended
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val sensor = NextDistanceSensor("distanceSensor") // Using your configuration name
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```
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</TabItem>
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<TabItem label="Java">
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```java
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NextDistanceSensor sensor = new NextDistanceSensor(RobotController.getControlHub(), 0); // By Lynx Module and I2C bus, recommended
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NextDistanceSensor sensor = new NextDistanceSensor("distanceSensor"); // Using your configuration name
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```
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</TabItem>
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</Tabs>
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## Usage
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### `update()`
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Reads the distance at that moment and refreshes the cache. Call this once per loop, before reading anything. It's recommended to put this in your `periodic` for your `Mechanism`.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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sensor.update()
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```
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</TabItem>
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<TabItem label="Java">
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```java
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sensor.update();
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```
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</TabItem>
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</Tabs>
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### `isWithinDistance(threshold, unit)`
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True if the distance sensor senses an object within `threshold`, in the given unit.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM
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```
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</TabItem>
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<TabItem label="Java">
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```java
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if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM
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```
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</TabItem>
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</Tabs>

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