BOOST extension: "when color seen" hat not working

The “when color seen” hat does not seem to trigger at all. I know this was working at some point! maybe the code just got out of sync.

In general, it looks like some cleanup may be needed in how color is represented in the code, to help distinguish between the numeric values reported by the sensor, the values used internally in the menu, the localized names used on the menu, and the localized names reported by the reporter.

I would also suggest renaming the _colorBucket data structure, since we are using a “token bucket” in the rate limiter which is quite different- this approach seems more like a sliding window? but it could just be called _colorSamples or _colorArray.

[ericrosenbaum]

Just a detail here: this is not so obvious, but hat block opcodes should never have side effects. I noticed that the ANY case for the when color opcode sets the previousColor here. The reason this is not okay is that, as soon as you have more than one hat block of that type, the second one will not work (the first one will have have already set previousColor, so the second one will have a different result).

[knandersen]

@ericrosenbaum @evhan55

Just a few notes about the sensor:

• It is designed to detect certain LEGO bricks (shiny plastic): Bright Red, Blue, Dark Green, Yellow, White, and Black.
• Its range is somewhere between 5-15mm.

After having tested the sensor this morning I feel like it’s actually performing as well as I would ever expect it to. I do however feel like I’m biased when testing the sensor, because I know how to use it ‘properly’, but others naturally may expect it to perform differently.

I’d like to have a discussion (including some hands-on demo) around this, because I do see some things we could do. Examples:

• Rename block from when [COLOR] color seen to when [COLOR] *brick* seen, to clarify that it’s optimized for LEGO bricks.
• Keep working to optimize the sensor stability (although I honestly don’t think there’s much to gain)
• If we’re not happy with the performance, drop the sensor and use it’s distance-sensing capabilities instead.