mirror of
https://github.com/wpilibsuite/allwpilib
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79 lines
2.2 KiB
C
79 lines
2.2 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __HiTechnicColorSensor_h__
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#define __HiTechnicColorSensor_h__
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#include "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class I2C;
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/**
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* HiTechnic NXT Color Sensor.
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*
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* This class allows access to a HiTechnic NXT Color Sensor on an I2C bus.
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* These sensors do not allow changing addresses so you cannot have more
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* than one on a single bus.
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*
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* Details on the sensor can be found here:
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* http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
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*
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*/
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class HiTechnicColorSensor : public SensorBase
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{
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public:
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enum tColorMode {kActive = 0, kPassive = 1, kRaw = 3};
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typedef struct{
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uint16_t red;
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uint16_t blue;
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uint16_t green;
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}RGB;
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explicit HiTechnicColorSensor(uint8_t moduleNumber);
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virtual ~HiTechnicColorSensor();
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uint8_t GetColor();
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uint8_t GetRed();
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uint8_t GetGreen();
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uint8_t GetBlue();
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RGB GetRGB();
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uint16_t GetRawRed();
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uint16_t GetRawGreen();
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uint16_t GetRawBlue();
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RGB GetRawRGB();
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void SetMode(tColorMode mode);
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//LiveWindowSendable interface
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virtual std::string GetType();
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virtual void InitTable(ITable *subtable);
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virtual void UpdateTable();
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virtual ITable* GetTable();
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virtual void StartLiveWindowMode();
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virtual void StopLiveWindowMode();
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private:
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static const uint8_t kAddress = 0x02;
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static const uint8_t kManufacturerBaseRegister = 0x08;
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static const uint8_t kManufacturerSize = 0x08;
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static const uint8_t kSensorTypeBaseRegister = 0x10;
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static const uint8_t kSensorTypeSize = 0x08;
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static const uint8_t kModeRegister = 0x41;
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static const uint8_t kColorRegister = 0x42;
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static const uint8_t kRedRegister = 0x43;
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static const uint8_t kGreenRegister = 0x44;
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static const uint8_t kBlueRegister = 0x45;
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static const uint8_t kRawRedRegister = 0x43;
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static const uint8_t kRawGreenRegister = 0x45;
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static const uint8_t kRawBlueRegister = 0x47;
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int m_mode;
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I2C* m_i2c;
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ITable *m_table;
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};
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#endif
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