Self-propelled device with color differentiated functions

A self-propelled device comprising:

• an optical sensor configured to detect a color of a surface on which the self-propelled device operates;
• at least one motor coupled to a plurality of wheels;
• and
• a control system coupled to the optical sensor and the at least one motor, the control system configured to receive from the optical sensor, an indication of a surface color of a surface on which the self-propelled device operates, determine that a color transition has occurred from a first color to a second color based on the received indication, determine an activity associated with the second color, and performing the activity associated with the second color, and enable the at least one motor to move the self-propelled device, wherein the control system is further configured to perform operations comprising:
• determine if color values received from the optical sensor are within a first area or within a second area in a color space;
• determine that the color transition occurred when the color values are within the first area;
• and
• determine that the color transition did not occur when the color values are within the second area.

A non-transitory memory encoding computer executable instructions that, when executed by at least one processor, perform method for operating a self-propelled device, the method comprising:

• receiving, from an optical sensor of the self-propelled device, an indication of a surface color of a surface on which the self-propelled device operates;
• determining that a color transition has occurred from a first color to a second color based on the received indication;
• determining if color values received from the optical sensor are within a first area or within a second area in a color space, wherein the second area is a hysteresis band surrounding the first area;
• determining that the color transition occurred when the color values are within the first area;
• and
• performing an activity based on the second color.