#include <HiTechnicColorSensor.h>

Inheritance diagram for HiTechnicColorSensor:

Classes
struct	RGB

Public Types
enum	tColorMode { kActive = 0, kPassive = 1, kRaw = 3 }

Public Member Functions
	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)

virtual std::string	GetType ()

virtual void	InitTable (ITable *subtable)

virtual void	UpdateTable ()

virtual ITable *	GetTable ()

virtual void	StartLiveWindowMode ()

virtual void	StopLiveWindowMode ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Additional Inherited Members
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

HiTechnic NXT Color Sensor.

This class allows access to a HiTechnic NXT Color Sensor on an I2C bus. These sensors do not allow changing addresses so you cannot have more than one on a single bus.

Details on the sensor can be found here: http://www.hitechnic.com/index.html?lang=en-us&target=d17.html

Constructor & Destructor Documentation

HiTechnicColorSensor::HiTechnicColorSensor ( uint8_t moduleNumber )

explicit

Constructor.

Parameters

moduleNumber The digital module that the sensor is plugged into (1 or 2).

HiTechnicColorSensor::~HiTechnicColorSensor ( )

virtual

Destructor.

Member Function Documentation

uint8_t HiTechnicColorSensor::GetBlue ( )

Get the Blue value.

Gets the raw (0-255) blue value from the sensor.

The sensor must be in active mode to access the regular RGB data if the sensor is not in active mode, it will be placed into active mode by this method.

Returns: The Blue sensor value.

uint8_t HiTechnicColorSensor::GetColor ( )

Get the estimated color.

Gets a color estimate from the sensor corresponding to the table found with the sensor or at the following site: http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NCO1038

Returns: The estimated color.

uint8_t HiTechnicColorSensor::GetGreen ( )

Get the Green value.

Gets the(0-255) green value from the sensor.

The sensor must be in active mode to access the regular RGB data if the sensor is not in active mode, it will be placed into active mode by this method.

Returns: The Green sensor value.

uint16_t HiTechnicColorSensor::GetRawBlue ( )

Get the Raw Blue value.

Gets the (0-65536) raw blue value from the sensor.

The sensor must be in raw or passive mode to access the regular RGB data if the sensor is not in raw or passive mode, it will be placed into raw mode by this method.

Returns: The Raw Blue sensor value.

uint16_t HiTechnicColorSensor::GetRawGreen ( )

Get the Raw Green value.

Gets the (0-65536) raw green value from the sensor.

The sensor must be in raw or passive mode to access the regular RGB data if the sensor is not in raw or passive mode, it will be placed into raw mode by this method.

Returns: The Raw Green sensor value.

uint16_t HiTechnicColorSensor::GetRawRed ( )

Get the Raw Red value.

Gets the (0-65536) raw red value from the sensor.

The sensor must be in raw or passive mode to access the regular RGB data if the sensor is not in raw or passive mode, it will be placed into raw mode by this method.

Returns: The Raw Red sensor value.

HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRawRGB ( )

Get the raw value of all three colors from a single sensor reading. Using this method ensures that all three values come from the same sensor reading, using the individual color methods provides no such guarantee.

Gets the (0-65536) raw color values from the sensor.

The sensor must be in raw or passive mode to access the regular RGB data if the sensor is not in raw or passive mode, it will be placed into raw mode by this method.

Returns: An RGB object with the raw sensor values.

uint8_t HiTechnicColorSensor::GetRed ( )

Get the Red value.

Gets the (0-255) red value from the sensor.

The sensor must be in active mode to access the regular RGB data if the sensor is not in active mode, it will be placed into active mode by this method.

Returns: The Red sensor value.

HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB ( )

Get the value of all three colors from a single sensor reading. Using this method ensures that all three values come from the same sensor reading, using the individual color methods provides no such guarantee.

The sensor must be in active mode to access the regular RGB data. If the sensor is not in active mode, it will be placed into active mode by this method.

Returns: RGB object with the three color values

ITable * HiTechnicColorSensor::GetTable ( )

virtual

void HiTechnicColorSensor::InitTable ( ITable * subtable )

virtual

void HiTechnicColorSensor::SetMode ( tColorMode mode )

Set the Mode of the color sensor This method is used to set the color sensor to one of the three modes, active, passive or raw. The sensor defaults to active mode which uses the internal LED and returns an interpreted color value and 3 8-bit RGB channel values. Raw mode uses the internal LED and returns 3 16-bit RGB channel values. Passive mode disables the internal LED and returns 3 16-bit RGB channel values.

Parameters

mode	The mode to set

void HiTechnicColorSensor::StartLiveWindowMode ( )

virtual

void HiTechnicColorSensor::StopLiveWindowMode ( )

virtual

void HiTechnicColorSensor::UpdateTable ( )

virtual

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

HiTechnicColorSensor.h
HiTechnicColorSensor.cpp

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation