rev::ColorSensorV3 Class Reference

#include <ColorSensorV3.h>

Classes
struct	RawColor

Public Types
enum class	GainFactor {   k1x = 0 , k3x = 1 , k6x = 2 , k9x = 3 ,   k18x = 4 }
enum class	LEDPulseFrequency {   k60kHz = 0x18 , k70kHz = 0x40 , k80kHz = 0x28 , k90kHz = 0x30 ,   k100kHz = 0x38 }
enum class	LEDCurrent {   kPulse2mA = 0 , kPulse5mA = 1 , kPulse10mA = 2 , kPulse25mA = 3 ,   kPulse50mA = 4 , kPulse75mA = 5 , kPulse100mA = 6 , kPulse125mA = 7 }
enum class	ProximityResolution { k8bit = 0x00 , k9bit = 0x08 , k10bit = 0x10 , k11bit = 0x18 }
enum class	ProximityMeasurementRate {   k6ms = 1 , k12ms = 2 , k25ms = 3 , k50ms = 4 ,   k100ms = 5 , k200ms = 6 , k400ms = 7 }
enum class	ColorResolution {   k20bit = 0x00 , k19bit = 0x10 , k18bit = 0x20 , k17bit = 0x30 ,   k16bit = 0x40 , k13bit = 0x50 }
enum class	ColorMeasurementRate {   k25ms = 0 , k50ms = 1 , k100ms = 2 , k200ms = 3 ,   k500ms = 4 , k1000ms = 5 , k2000ms = 7 }

Public Member Functions
	ColorSensorV3 (frc::I2C::Port port)
	ColorSensorV3 (ColorSensorV3 &&)=default
ColorSensorV3 &	operator= (ColorSensorV3 &&)=default
frc::Color	GetColor ()
RawColor	GetRawColor ()
CIEColor	GetCIEColor ()
double	GetIR ()
uint32_t	GetProximity ()
void	SetGain (GainFactor gain)
void	ConfigureProximitySensorLED (LEDPulseFrequency freq, LEDCurrent current, uint8_t pulses)
void	ConfigureProximitySensor (ProximityResolution res, ProximityMeasurementRate rate)
void	ConfigureColorSensor (ColorResolution res, ColorMeasurementRate rate)
bool	HasReset ()
bool	IsConnected ()

Detailed Description

REV Robotics Color Sensor V3.

This class allows access to a REV Robotics color sensor V3 on an I2C bus.

Member Enumeration Documentation

GainFactor

enum class rev::ColorSensorV3::GainFactor

strong

Enumerator
k1x
k3x
k6x
k9x
k18x

LEDPulseFrequency

enum class rev::ColorSensorV3::LEDPulseFrequency

strong

Enumerator
k60kHz
k70kHz
k80kHz
k90kHz
k100kHz

LEDCurrent

enum class rev::ColorSensorV3::LEDCurrent

strong

Enumerator
kPulse2mA
kPulse5mA
kPulse10mA
kPulse25mA
kPulse50mA
kPulse75mA
kPulse100mA
kPulse125mA

ProximityResolution

enum class rev::ColorSensorV3::ProximityResolution

strong

Enumerator
k8bit
k9bit
k10bit
k11bit

ProximityMeasurementRate

enum class rev::ColorSensorV3::ProximityMeasurementRate

strong

Enumerator
k6ms
k12ms
k25ms
k50ms
k100ms
k200ms
k400ms

ColorResolution

enum class rev::ColorSensorV3::ColorResolution

strong

Enumerator
k20bit
k19bit
k18bit
k17bit
k16bit
k13bit

ColorMeasurementRate

enum class rev::ColorSensorV3::ColorMeasurementRate

strong

Enumerator
k25ms
k50ms
k100ms
k200ms
k500ms
k1000ms
k2000ms

Constructor & Destructor Documentation

ColorSensorV3() [1/2]

ColorSensorV3::ColorSensorV3 ( frc::I2C::Port  port )

explicit

Constructs a ColorSensorV3.

Note that the REV Color Sensor is really two devices in one package: a color sensor providing red, green, blue and IR values, and a proximity sensor.

Parameters

port	The I2C port the color sensor is attached to

ColorSensorV3() [2/2]

rev::ColorSensorV3::ColorSensorV3 ( ColorSensorV3 &&  )

default

Member Function Documentation

operator=()

ColorSensorV3 & rev::ColorSensorV3::operator= ( ColorSensorV3 &&  )

default

GetColor()

frc::Color ColorSensorV3::GetColor

(

)

Get the normalized RGB color from the sensor (normalized based on total R + G + B)

Returns

frc::Color class with normalized sRGB values

GetRawColor()

ColorSensorV3::RawColor ColorSensorV3::GetRawColor

(

)

Get the raw color value from the sensor.

Returns

Raw color values from sensopr

GetCIEColor()

CIEColor ColorSensorV3::GetCIEColor

(

)

Get the color converted to CIE XYZ color space using factory calibrated constants.

https://en.wikipedia.org/wiki/CIE_1931_color_space

Returns

CIEColor value from sensor

GetIR()

double ColorSensorV3::GetIR

(

)

Get the normalzied IR value from the sensor. Works best when within 2 inches and perpendicular to surface of interest.

Returns

Color class with normalized values

GetProximity()

uint32_t ColorSensorV3::GetProximity

(

)

Get the raw proximity value from the sensor ADC. This value is largest when an object is close to the sensor and smallest when far away.

Returns

Proximity measurement value, ranging from 0 to 2047 in default configuration

SetGain()

void ColorSensorV3::SetGain

(

ColorSensorV3::GainFactor

gain

)

Set the gain factor applied to color ADC measurements.

By default, the gain is set to 3x.

Parameters

gain	Gain factor applied to color ADC measurements measurements

ConfigureProximitySensorLED()

void ColorSensorV3::ConfigureProximitySensorLED	(	LEDPulseFrequency	freq,
		LEDCurrent	current,
		uint8_t	pulses
	)

Configure the the IR LED used by the proximity sensor.

These settings are only needed for advanced users, the defaults will work fine for most teams. Consult the APDS-9151 for more information on these configuration settings and how they will affect proximity sensor measurements.

Parameters

freq	The pulse modulation frequency for the proximity sensor LED
current	The pulse current for the proximity sensor LED
pulses	The number of pulses per measurement of the proximity sensor LED

ConfigureProximitySensor()

void ColorSensorV3::ConfigureProximitySensor	(	ProximityResolution	res,
		ProximityMeasurementRate	rate
	)

Configure the proximity sensor.

These settings are only needed for advanced users, the defaults will work fine for most teams. Consult the APDS-9151 for more information on these configuration settings and how they will affect proximity sensor measurements.

Parameters

res	Bit resolution output by the proximity sensor ADC.
rate	Measurement rate of the proximity sensor

ConfigureColorSensor()

void ColorSensorV3::ConfigureColorSensor	(	ColorResolution	res,
		ColorMeasurementRate	rate
	)

Configure the color sensor.

These settings are only needed for advanced users, the defaults will work fine for most teams. Consult the APDS-9151 for more information on these configuration settings and how they will affect color sensor measurements.

Parameters

res	Bit resolution output by the respective light sensor ADCs
rate	Measurement rate of the light sensor

HasReset()

bool ColorSensorV3::HasReset

(

)

Indicates if the device reset. Based on the power on status flag in the status register. Per the datasheet:

Part went through a power-up event, either because the part was turned on or because there was power supply voltage disturbance (default at first register read).

This flag is self clearing

Returns

true if the device was reset

IsConnected()

bool ColorSensorV3::IsConnected

(

)

Indicates if the device can currently be communicated with.

Returns

true if the device is currently connected and responsive

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The documentation for this class was generated from the following files:

• src/main/native/include/rev/ColorSensorV3.h
• src/main/native/cpp/ColorSensorV3.cpp