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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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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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