Package com.revrobotics

Class ColorSensorV3

  • public class ColorSensorV3
extends java.lang.Object
    REV Robotics Color Sensor V3

    • Constructor Detail

      • ColorSensorV3

        public ColorSensorV3​(edu.wpi.first.wpilibj.I2C.Port port)
        Constructs a ColorSensor.
        Parameters:
        port - The I2C port the color sensor is attached to

    • Method Detail

      • configureProximitySensorLED

        public void configureProximitySensorLED​(ColorSensorV3.LEDPulseFrequency freq,
                                        ColorSensorV3.LEDCurrent curr,
                                        int 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
        curr - The pulse current for the proximity sensor LED
        pulses - The number of pulses per measurement of the proximity sensor LED (0-255)

      • configureProximitySensor

        public void configureProximitySensor​(ColorSensorV3.ProximitySensorResolution res,
                                     ColorSensorV3.ProximitySensorMeasurementRate 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

        public void configureColorSensor​(ColorSensorV3.ColorSensorResolution res,
                                 ColorSensorV3.ColorSensorMeasurementRate rate,
                                 ColorSensorV3.GainFactor gain)
        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
        gain - Gain factor applied to light sensor (color) outputs

      • getColor

        public edu.wpi.first.wpilibj.util.Color getColor()
        Get the most likely color. Works best when within 2 inches and perpendicular to surface of interest.
        Returns:
        Color enum of the most likely color, including unknown if the minimum threshold is not met

      • getProximity

        public int getProximity()
        Get the raw proximity value from the sensor ADC (11 bit). 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

      • getRawColor

        public ColorSensorV3.RawColor getRawColor()
        Get the raw color values from their respective ADCs (20-bit).
        Returns:
        ColorValues struct containing red, green, blue and IR values

      • getRed

        public int getRed()
        Get the raw color value from the red ADC
        Returns:
        Red ADC value

      • getGreen

        public int getGreen()
        Get the raw color value from the green ADC
        Returns:
        Green ADC value

      • getBlue

        public int getBlue()
        Get the raw color value from the blue ADC
        Returns:
        Blue ADC value

      • getIR

        public int getIR()
        Get the raw color value from the IR ADC
        Returns:
        IR ADC value

      • getCIEColor

        public CIEColor 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

      • hasReset

        public boolean 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

        public boolean isConnected()
        Indicates if the device can currently be communicated with.
        Returns:
        true if the device is currently connected and responsive