PKS Color Sensor Driver for XRCU. More...

#include <Color_sensor.h>

Inheritance diagram for Color_sensor:

Public Member Functions
	Color_sensor (const uint32_t init_port)
	Creates a Color_sensor object.

bool	begin (const uint8_t init_i2c_address=DEFAULT_I2C_ADDRESS)
	Activates this color sensor.

uint8_t	get_color ()
	Gets a simple color.

rgb_t	get_rgb ()
	Gets the measured color in RGB-888.

hsl_t	get_hsl ()
	Gets the measured color in HSL.

rgbc_t	get_rgbc ()
	Gets the measured color in RGBC.

void	turn_on_light_bulb ()
	Turns on the detector light bulb.

void	turn_off_light_bulb ()
	Turns off the detector light bulb.

void	turn_on_indicator_led ()
	Turns on the indicator LED.

void	turn_off_indicator_led ()
	Turns off the indicator LED.

bool	cal ()
	calibrates the color sensor to provide accurate results (for future compatibility use)

Additional Inherited Members
Protected Member Functions inherited from Supported_sensor
	Supported_sensor ()
	Creates an object of a supported sensor.

Protected Member Functions inherited from Supported_module
	Supported_module ()
	Creates an object of a supported module.

Detailed Description

PKS Color Sensor Driver for XRCU.

Warning: This module requires 5V power supply, which could not provided from XRCU.

Deprecated: New robot designs should not use this module with XRCU.
This library may be removed in future releases.
See warning.

Note: DISCLAIMER:
The hardware of this sensor is not provided by Journey Maker 9 Systems.
Performance and stability could not be guaranteed to JM9 competition standards.
Consult hardware distributor before using this sensor in critical competitions.

Author: YH Choi @ JM9

Constructor & Destructor Documentation

◆ Color_sensor()

Color_sensor::Color_sensor ( const uint32_t init_port )

Creates a Color_sensor object.

Parameters

init_port the I2C port connected to this color sensor

Member Function Documentation

◆ begin()

bool Color_sensor::begin ( const uint8_t init_i2c_address = DEFAULT_I2C_ADDRESS )

Activates this color sensor.

YOU MUST CALL ME IN void setup () FUNCTION TO USE THIS OBJECT PROPERLY. Configures the settings of the I2C bus and the chip.

Parameters

init_i2c_address the 7-bit I2C address of this color sensor

Returns: true if the color sensor is successfully activated, false if activation failed (for future compatibility use)

◆ cal()

bool Color_sensor::cal ( )

calibrates the color sensor to provide accurate results (for future compatibility use)

Returns: true if calibration is successful, false if calibration failed

◆ get_color()

uint8_t Color_sensor::get_color ( )

Gets a simple color.

Note: DISCLAIMER:
This implementation is adopted from the driver implementation provided by hardware vendor.

Returns: the color detected, expressed as one of the options in enum color_t

See also: color_t

◆ get_hsl()

hsl_t Color_sensor::get_hsl ( )

Gets the measured color in HSL.

Note: DISCLAIMER:
This implementation is adopted from the driver implementation provided by hardware vendor.

Returns: the measured color in HSL in struct hsl_t

See also: hsl_t

◆ get_rgb()

rgb_t Color_sensor::get_rgb ( )

Gets the measured color in RGB-888.

Note: DISCLAIMER:
This implementation is adopted from the driver implementation provided by hardware vendor.

Returns: the measured color in RGB-888 in struct rgb_t

See also: rgb_t

◆ get_rgbc()

rgbc_t Color_sensor::get_rgbc ( )

Gets the measured color in RGBC.

Note: DISCLAIMER:
This implementation is adopted from the driver implementation provided by hardware vendor.

Returns: the measured color in RGBC in struct rgbc_t

See also: rgbc_t

◆ turn_off_indicator_led()

void Color_sensor::turn_off_indicator_led ( )

Turns off the indicator LED.

The indicator led tells what color the sensor has detected.

Note: DISCLAIMER:
This implementation is based on hardware vendor datasheet.

See also: turn_on_indicator_led()

◆ turn_off_light_bulb()

void Color_sensor::turn_off_light_bulb ( )

Turns off the detector light bulb.

The detector light bulb lights up the sample color plate.

Note: DISCLAIMER:
This implementation is based on hardware vendor datasheet.

See also: turn_on_light_bulb()

◆ turn_on_indicator_led()

void Color_sensor::turn_on_indicator_led ( )

Turns on the indicator LED.