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#pragma config(Sensor, S1,     camera1,             sensorI2CCustomFast)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
 
/*
Color Recognition - ROBOTC for the NXT
 
Description: The NXT displays the name of the color returned by the Mindsensors NXTCam v2
 
NXT Configuration:
- Mindsensors NXTCam v2 plugged into NXT Sensor Port 1
 
Camera Configuration:
- Color Index 0: Red
- Color Index 1: Orange
- Color Index 2: Yellow
- Color Index 3: Green
- Color Index 4: Blue
- Color Index 5: Purple
- Color Index 6: Black
- Color Index 7: Brown
 
Notes:
- As of October 2008, NXTCam color index must be configured through
NXTCamView, found at: http://nxtcamview.sourceforge.net/
- More information can be found at: http://mindsensors.com/index.php?module=pagemaster&PAGE_user_op=view_page&PAGE_id=78
*/
 
//Include NXTCam Library
#include "RAnxtCamLib.c"
 
//Define global variables
string colorName;
int numBlobs;
int_array blobColor;
int_array blobX1;
int_array blobTop;
int_array blobX2;
int_array blobBottom;
 
void printColorName();
 
task main ()
{
  //Initialize the NXTCam
  enableTracking(camera1);
  wait1Msec(500);
  sortBySize(camera1);
  wait1Msec(500);
  useObjectTracking(camera1);
  wait1Msec(500);
 
  //Recognize Colors Forever
  while(true)
  {
    printColorName();
    wait1Msec(100);
  }
}
 
//void printColorName() - Writes the color returned from the camera to the NXT screen
void printColorName()
{
  nxtDisplayString(1, "The color is:");
  //Retrieves Camera Data
  getCameraData(camera1, numBlobs, blobColor, blobX1, blobTop, blobX2, blobBottom);
 
  if(numBlobs > 0)  //If at least 1 "blob" or color is seen...
  {
    switch(blobColor) //...check the blobColor index.
    {
    case 0:
      colorName = "RED     ";
      break;
    case 1:
      colorName = "ORANGE  ";
      break;
    case 2:
      colorName = "YELLOW  ";
      break;
    case 3:
      colorName = "GREEN   ";
      break;
    case 4:
      colorName = "BLUE    ";
      break;
    case 5:
      colorName = "PURPLE  ";
      break;
    case 6:
      colorName = "BLACK   ";
      break;
    case 7:
      colorName = "BROWN   ";
      break;
    default:
      colorName = "UNKNONWN";
      break;
    }
  }
  nxtDisplayString(3, colorName);
}