MATLAB/Octave - Color Bricklet¶

Simple (MATLAB)¶

Download (matlab_example_simple.m)

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function matlab_example_simple()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletColor;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Color Bricklet

    ipcon = IPConnection(); % Create IP connection
    c = handle(BrickletColor(UID, ipcon), 'CallbackProperties'); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get current color
    color = c.getColor();

    fprintf('Color [R]: %i\n', color.r);
    fprintf('Color [G]: %i\n', color.g);
    fprintf('Color [B]: %i\n', color.b);
    fprintf('Color [C]: %i\n', color.c);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

Callback (MATLAB)¶

Download (matlab_example_callback.m)

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function matlab_example_callback()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletColor;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Color Bricklet

    ipcon = IPConnection(); % Create IP connection
    c = handle(BrickletColor(UID, ipcon), 'CallbackProperties'); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Register color callback to function cb_color
    set(c, 'ColorCallback', @(h, e) cb_color(e));

    % Set period for color callback to 1s (1000ms)
    % Note: The color callback is only called every second
    %       if the color has changed since the last call!
    c.setColorCallbackPeriod(1000);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

% Callback function for color callback
function cb_color(e)
    fprintf('Color [R]: %i\n', e.r);
    fprintf('Color [G]: %i\n', e.g);
    fprintf('Color [B]: %i\n', e.b);
    fprintf('Color [C]: %i\n', e.c);
    fprintf('\n');
end

Threshold (MATLAB)¶

Download (matlab_example_threshold.m)

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function matlab_example_threshold()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletColor;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Color Bricklet

    ipcon = IPConnection(); % Create IP connection
    c = handle(BrickletColor(UID, ipcon), 'CallbackProperties'); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get threshold callbacks with a debounce time of 10 seconds (10000ms)
    c.setDebouncePeriod(10000);

    % Register color reached callback to function cb_color_reached
    set(c, 'ColorReachedCallback', @(h, e) cb_color_reached(e));

    % Configure threshold for color "greater than 100, 200, 300, 400"
    c.setColorCallbackThreshold('>', 100, 0, 200, 0, 300, 0, 400, 0);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

% Callback function for color reached callback
function cb_color_reached(e)
    fprintf('Color [R]: %i\n', e.r);
    fprintf('Color [G]: %i\n', e.g);
    fprintf('Color [B]: %i\n', e.b);
    fprintf('Color [C]: %i\n', e.c);
    fprintf('\n');
end

Simple (Octave)¶

Download (octave_example_simple.m)

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function octave_example_simple()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Color Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    c = javaObject("com.tinkerforge.BrickletColor", UID, ipcon); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get current color
    color = c.getColor();

    fprintf("Color [R]: %d\n", color.r);
    fprintf("Color [G]: %d\n", color.g);
    fprintf("Color [B]: %d\n", color.b);
    fprintf("Color [C]: %d\n", color.c);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

Callback (Octave)¶

Download (octave_example_callback.m)

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function octave_example_callback()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Color Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    c = javaObject("com.tinkerforge.BrickletColor", UID, ipcon); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Register color callback to function cb_color
    c.addColorCallback(@cb_color);

    % Set period for color callback to 1s (1000ms)
    % Note: The color callback is only called every second
    %       if the color has changed since the last call!
    c.setColorCallbackPeriod(1000);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

% Callback function for color callback
function cb_color(e)
    fprintf("Color [R]: %d\n", e.r);
    fprintf("Color [G]: %d\n", e.g);
    fprintf("Color [B]: %d\n", e.b);
    fprintf("Color [C]: %d\n", e.c);
    fprintf("\n");
end

Threshold (Octave)¶

Download (octave_example_threshold.m)

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function octave_example_threshold()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Color Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    c = javaObject("com.tinkerforge.BrickletColor", UID, ipcon); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get threshold callbacks with a debounce time of 10 seconds (10000ms)
    c.setDebouncePeriod(10000);

    % Register color reached callback to function cb_color_reached
    c.addColorReachedCallback(@cb_color_reached);

    % Configure threshold for color "greater than 100, 200, 300, 400"
    c.setColorCallbackThreshold(">", 100, 0, 200, 0, 300, 0, 400, 0);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

% Callback function for color reached callback
function cb_color_reached(e)
    fprintf("Color [R]: %d\n", e.r);
    fprintf("Color [G]: %d\n", e.g);
    fprintf("Color [B]: %d\n", e.b);
    fprintf("Color [C]: %d\n", e.c);
    fprintf("\n");
end

Basic Functions¶

class BrickletColor(String uid, IPConnection ipcon)¶

Parameters:	uid – Type: String ipcon – Type: IPConnection
Returns:	color – Type: BrickletColor

Creates an object with the unique device ID uid.

In MATLAB:

import com.tinkerforge.BrickletColor;

color = BrickletColor('YOUR_DEVICE_UID', ipcon);

In Octave:

color = java_new("com.tinkerforge.BrickletColor", "YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

BrickletColor.Color BrickletColor.getColor()¶

Return Object:	r – Type: int, Range: [0 to 216 - 1] g – Type: int, Range: [0 to 216 - 1] b – Type: int, Range: [0 to 216 - 1] c – Type: int, Range: [0 to 216 - 1]

Returns the measured color of the sensor.

The red (r), green (g), blue (b) and clear (c) colors are measured with four different photodiodes that are responsive at different wavelengths:

If you want to get the color periodically, it is recommended to use the ColorCallback callback and set the period with setColorCallbackPeriod().

void BrickletColor.lightOn()¶

Turns the LED on.

void BrickletColor.lightOff()¶

Turns the LED off.

short BrickletColor.isLightOn()¶

Returns:	light – Type: short, Range: See constants, Default: 1

Returns the state of the LED. Possible values are:

• 0: On
• 1: Off

The following constants are available for this function:

For light:

• BrickletColor.LIGHT_ON = 0
• BrickletColor.LIGHT_OFF = 1

void BrickletColor.setConfig(short gain, short integrationTime)¶

Parameters:	gain – Type: short, Range: See constants, Default: 3 integrationTime – Type: short, Range: See constants, Default: 3

Sets the configuration of the sensor. Gain and integration time can be configured in this way.

For configuring the gain:

• 0: 1x Gain
• 1: 4x Gain
• 2: 16x Gain
• 3: 60x Gain

For configuring the integration time:

• 0: 2.4ms
• 1: 24ms
• 2: 101ms
• 3: 154ms
• 4: 700ms

Increasing the gain enables the sensor to detect a color from a higher distance.

The integration time provides a trade-off between conversion time and accuracy. With a longer integration time the values read will be more accurate but it will take longer time to get the conversion results.

The following constants are available for this function:

For gain:

• BrickletColor.GAIN_1X = 0
• BrickletColor.GAIN_4X = 1
• BrickletColor.GAIN_16X = 2
• BrickletColor.GAIN_60X = 3

For integrationTime:

• BrickletColor.INTEGRATION_TIME_2MS = 0
• BrickletColor.INTEGRATION_TIME_24MS = 1
• BrickletColor.INTEGRATION_TIME_101MS = 2
• BrickletColor.INTEGRATION_TIME_154MS = 3
• BrickletColor.INTEGRATION_TIME_700MS = 4

BrickletColor.Config BrickletColor.getConfig()¶

Return Object:	gain – Type: short, Range: See constants, Default: 3 integrationTime – Type: short, Range: See constants, Default: 3

Returns the configuration as set by setConfig().

The following constants are available for this function:

For gain:

• BrickletColor.GAIN_1X = 0
• BrickletColor.GAIN_4X = 1
• BrickletColor.GAIN_16X = 2
• BrickletColor.GAIN_60X = 3

For integrationTime:

• BrickletColor.INTEGRATION_TIME_2MS = 0
• BrickletColor.INTEGRATION_TIME_24MS = 1
• BrickletColor.INTEGRATION_TIME_101MS = 2
• BrickletColor.INTEGRATION_TIME_154MS = 3
• BrickletColor.INTEGRATION_TIME_700MS = 4

long BrickletColor.getIlluminance()¶

Returns:	illuminance – Type: long, Unit: ? lx, Range: [0 to 103438]

Returns the illuminance affected by the gain and integration time as set by setConfig(). To get the illuminance in Lux apply this formula:

lux = illuminance * 700 / gain / integration_time

To get a correct illuminance measurement make sure that the color values themselves are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see setConfig().

int BrickletColor.getColorTemperature()¶

Returns:	colorTemperature – Type: int, Unit: 1 K, Range: [0 to 216 - 1]

Returns the color temperature.

To get a correct color temperature measurement make sure that the color values themselves are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see setConfig().

Advanced Functions¶

BrickletColor.Identity BrickletColor.getIdentity()¶

Return Object:

uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] firmwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] deviceIdentifier – Type: int, Range: [0 to 216 - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

void BrickletColor.setColorCallbackPeriod(long period)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the ColorCallback callback is triggered periodically. A value of 0 turns the callback off.

The ColorCallback callback is only triggered if the color has changed since the last triggering.

long BrickletColor.getColorCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setColorCallbackPeriod().

void BrickletColor.setColorCallbackThreshold(char option, int minR, int maxR, int minG, int maxG, int minB, int maxB, int minC, int maxC)¶

Parameters:

option – Type: char, Range: See constants, Default: 'x' minR – Type: int, Range: [0 to 216 - 1], Default: 0 maxR – Type: int, Range: [0 to 216 - 1], Default: 0 minG – Type: int, Range: [0 to 216 - 1], Default: 0 maxG – Type: int, Range: [0 to 216 - 1], Default: 0 minB – Type: int, Range: [0 to 216 - 1], Default: 0 maxB – Type: int, Range: [0 to 216 - 1], Default: 0 minC – Type: int, Range: [0 to 216 - 1], Default: 0 maxC – Type: int, Range: [0 to 216 - 1], Default: 0

Sets the thresholds for the ColorReachedCallback callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the temperature is outside the min and max values
'i'	Callback is triggered when the temperature is inside the min and max values
'<'	Callback is triggered when the temperature is smaller than the min value (max is ignored)
'>'	Callback is triggered when the temperature is greater than the min value (max is ignored)

The following constants are available for this function:

For option:

• BrickletColor.THRESHOLD_OPTION_OFF = 'x'
• BrickletColor.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletColor.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletColor.THRESHOLD_OPTION_SMALLER = '<'
• BrickletColor.THRESHOLD_OPTION_GREATER = '>'

BrickletColor.ColorCallbackThreshold BrickletColor.getColorCallbackThreshold()¶

Return Object:

option – Type: char, Range: See constants, Default: 'x' minR – Type: int, Range: [0 to 216 - 1], Default: 0 maxR – Type: int, Range: [0 to 216 - 1], Default: 0 minG – Type: int, Range: [0 to 216 - 1], Default: 0 maxG – Type: int, Range: [0 to 216 - 1], Default: 0 minB – Type: int, Range: [0 to 216 - 1], Default: 0 maxB – Type: int, Range: [0 to 216 - 1], Default: 0 minC – Type: int, Range: [0 to 216 - 1], Default: 0 maxC – Type: int, Range: [0 to 216 - 1], Default: 0

Returns the threshold as set by setColorCallbackThreshold().

The following constants are available for this function:

For option:

• BrickletColor.THRESHOLD_OPTION_OFF = 'x'
• BrickletColor.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletColor.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletColor.THRESHOLD_OPTION_SMALLER = '<'
• BrickletColor.THRESHOLD_OPTION_GREATER = '>'

void BrickletColor.setDebouncePeriod(long debounce)¶

Parameters:	debounce – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Sets the period with which the threshold callback

• ColorReachedCallback

is triggered, if the threshold

• setColorCallbackThreshold()

keeps being reached.

long BrickletColor.getDebouncePeriod()¶

Returns:	debounce – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by setDebouncePeriod().

void BrickletColor.setIlluminanceCallbackPeriod(long period)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the IlluminanceCallback callback is triggered periodically. A value of 0 turns the callback off.

The IlluminanceCallback callback is only triggered if the illuminance has changed since the last triggering.

long BrickletColor.getIlluminanceCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setIlluminanceCallbackPeriod().

void BrickletColor.setColorTemperatureCallbackPeriod(long period)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the ColorTemperatureCallback callback is triggered periodically. A value of 0 turns the callback off.

The ColorTemperatureCallback callback is only triggered if the color temperature has changed since the last triggering.

long BrickletColor.getColorTemperatureCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setColorTemperatureCallbackPeriod().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

function my_callback(e)
    fprintf('Parameter: %s\n', e.param);
end

set(device, 'ExampleCallback', @(h, e) my_callback(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

function my_callback(e)
    fprintf("Parameter: %s\n", e.param);
end

device.addExampleCallback(@my_callback);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure e, which is derived from the java.util.EventObject class. The available callback names with corresponding structure fields are described below.

callback BrickletColor.ColorCallback¶

Event Object:	r – Type: int, Range: [0 to 216 - 1] g – Type: int, Range: [0 to 216 - 1] b – Type: int, Range: [0 to 216 - 1] c – Type: int, Range: [0 to 216 - 1]

This callback is triggered periodically with the period that is set by setColorCallbackPeriod(). The parameter is the color of the sensor as RGBC.

The ColorCallback callback is only triggered if the color has changed since the last triggering.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addColorCallback() function. An added callback function can be removed with the removeColorCallback() function.

callback BrickletColor.ColorReachedCallback¶

Event Object:	r – Type: int, Range: [0 to 216 - 1] g – Type: int, Range: [0 to 216 - 1] b – Type: int, Range: [0 to 216 - 1] c – Type: int, Range: [0 to 216 - 1]

This callback is triggered when the threshold as set by setColorCallbackThreshold() is reached. The parameter is the color of the sensor as RGBC.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by setDebouncePeriod().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addColorReachedCallback() function. An added callback function can be removed with the removeColorReachedCallback() function.

callback BrickletColor.IlluminanceCallback¶

Event Object:	illuminance – Type: long, Unit: ? lx, Range: [0 to 103438]

This callback is triggered periodically with the period that is set by setIlluminanceCallbackPeriod(). The parameter is the illuminance. See getIlluminance() for how to interpret this value.

The IlluminanceCallback callback is only triggered if the illuminance has changed since the last triggering.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addIlluminanceCallback() function. An added callback function can be removed with the removeIlluminanceCallback() function.

callback BrickletColor.ColorTemperatureCallback¶

Event Object:	colorTemperature – Type: int, Unit: 1 K, Range: [0 to 216 - 1]

This callback is triggered periodically with the period that is set by setColorTemperatureCallbackPeriod(). The parameter is the color temperature.

The ColorTemperatureCallback callback is only triggered if the color temperature has changed since the last triggering.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addColorTemperatureCallback() function. An added callback function can be removed with the removeColorTemperatureCallback() function.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

short[] BrickletColor.getAPIVersion()¶

Return Object:	apiVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

boolean BrickletColor.getResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: boolean

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by setResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletColor.FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
• BrickletColor.FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
• BrickletColor.FUNCTION_SET_DEBOUNCE_PERIOD = 6
• BrickletColor.FUNCTION_LIGHT_ON = 10
• BrickletColor.FUNCTION_LIGHT_OFF = 11
• BrickletColor.FUNCTION_SET_CONFIG = 13
• BrickletColor.FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
• BrickletColor.FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19

void BrickletColor.setResponseExpected(byte functionId, boolean responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: boolean

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletColor.FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
• BrickletColor.FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
• BrickletColor.FUNCTION_SET_DEBOUNCE_PERIOD = 6
• BrickletColor.FUNCTION_LIGHT_ON = 10
• BrickletColor.FUNCTION_LIGHT_OFF = 11
• BrickletColor.FUNCTION_SET_CONFIG = 13
• BrickletColor.FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
• BrickletColor.FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19

void BrickletColor.setResponseExpectedAll(boolean responseExpected)¶

Parameters:	responseExpected – Type: boolean

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants¶

int BrickletColor.DEVICE_IDENTIFIER¶

This constant is used to identify a Color Bricklet.

The getIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

String BrickletColor.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Color Bricklet.