HiTechnicColorSensor.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __HiTechnicColorSensor_h__
#define __HiTechnicColorSensor_h__

#include "SensorBase.h"
#include "LiveWindow/LiveWindowSendable.h"

class I2C;

class HiTechnicColorSensor : public SensorBase
{
public:
    enum tColorMode {kActive = 0, kPassive = 1, kRaw = 3};
    typedef struct{
        uint16_t red;
        uint16_t blue;
        uint16_t green;
    }RGB;
    explicit HiTechnicColorSensor(uint8_t moduleNumber);
    virtual ~HiTechnicColorSensor();
    uint8_t GetColor();
    uint8_t GetRed();
    uint8_t GetGreen();
    uint8_t GetBlue();
    RGB GetRGB();
    uint16_t GetRawRed();
    uint16_t GetRawGreen();
    uint16_t GetRawBlue();
    RGB GetRawRGB();
    void SetMode(tColorMode mode);
    
    
    //LiveWindowSendable interface
    virtual std::string GetType();
    virtual void InitTable(ITable *subtable);
    virtual void UpdateTable();
    virtual ITable* GetTable();
    virtual void StartLiveWindowMode();
    virtual void StopLiveWindowMode(); 

private:
    static const uint8_t kAddress = 0x02;
    static const uint8_t kManufacturerBaseRegister = 0x08;
    static const uint8_t kManufacturerSize = 0x08;
    static const uint8_t kSensorTypeBaseRegister = 0x10;
    static const uint8_t kSensorTypeSize = 0x08;
    static const uint8_t kModeRegister = 0x41;
    static const uint8_t kColorRegister = 0x42;
    static const uint8_t kRedRegister = 0x43;
    static const uint8_t kGreenRegister = 0x44;
    static const uint8_t kBlueRegister = 0x45;
    static const uint8_t kRawRedRegister = 0x43;
    static const uint8_t kRawGreenRegister = 0x45;
    static const uint8_t kRawBlueRegister = 0x47;
    
    int m_mode;
    I2C* m_i2c;
    ITable *m_table;
};

#endif