474 lines
12 KiB
C++
474 lines
12 KiB
C++
/**
|
|
* \file pros/optical.h
|
|
* \ingroup c-optical
|
|
*
|
|
* Contains prototypes for functions related to the VEX Optical sensor.
|
|
*
|
|
* This file should not be modified by users, since it gets replaced whenever
|
|
* a kernel upgrade occurs.
|
|
*
|
|
* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
|
|
*
|
|
* This Source Code Form is subject to the terms of the Mozilla Public
|
|
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
|
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
|
*
|
|
* \defgroup c-optical VEX Optical Sensor C API
|
|
*/
|
|
|
|
#ifndef _PROS_OPTICAL_H_
|
|
#define _PROS_OPTICAL_H_
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
#include "error.h"
|
|
|
|
#define OPT_GESTURE_ERR (INT8_MAX)
|
|
#define OPT_COUNT_ERR (INT16_MAX)
|
|
#define OPT_TIME_ERR PROS_ERR
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
namespace pros {
|
|
namespace c {
|
|
#endif
|
|
|
|
/**
|
|
* \ingroup c-optical
|
|
*/
|
|
|
|
/**
|
|
* \addtogroup c-optical
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* \enum optical_direction_e_t
|
|
*/
|
|
typedef enum optical_direction_e { NO_GESTURE = 0,
|
|
/// The direction indicating an upward gesture.
|
|
UP = 1,
|
|
/// The direction indicating a downward gesture.
|
|
DOWN = 2,
|
|
/// The direction indicating a rightward gesture.
|
|
RIGHT = 3,
|
|
/// The direction indicating a leftward gesture.
|
|
LEFT = 4,
|
|
ERROR = PROS_ERR
|
|
} optical_direction_e_t;
|
|
|
|
/**
|
|
* \struct optical_rgb_s_t
|
|
* The RGB and Brightness values for the optical sensor.
|
|
*/
|
|
typedef struct optical_rgb_s {
|
|
double red;
|
|
double green;
|
|
double blue;
|
|
double brightness;
|
|
} optical_rgb_s_t;
|
|
|
|
/**
|
|
* \struct optical_raw_s_t
|
|
* The RGB and clear values for the optical sensor.
|
|
*/
|
|
typedef struct optical_raw_s {
|
|
uint32_t clear;
|
|
uint32_t red;
|
|
uint32_t green;
|
|
uint32_t blue;
|
|
} optical_raw_s_t;
|
|
|
|
/**
|
|
* \struct optical_gesture_s_t
|
|
* This structure contains the raw gesture data.
|
|
*/
|
|
typedef struct optical_gesture_s {
|
|
uint8_t udata; ///Up data
|
|
uint8_t ddata; ///Down data
|
|
uint8_t ldata; ///Left data
|
|
uint8_t rdata; ///Right data
|
|
uint8_t type; ///Type of gesture
|
|
uint8_t pad; ///Padding
|
|
uint16_t count; ///Number of gestures
|
|
uint32_t time; ///Time since gesture recognized
|
|
} optical_gesture_s_t;
|
|
|
|
/**
|
|
* \name Functions
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* Get the detected color hue
|
|
*
|
|
* This is not available if gestures are being detected. Hue has a
|
|
* range of 0 to 359.999
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return hue value if the operation was successful or PROS_ERR_F if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* printf("Hue value: %lf \n", optical_get_hue(OPTICAL_PORT));
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double optical_get_hue(uint8_t port);
|
|
|
|
/**
|
|
* Get the detected color saturation
|
|
*
|
|
* This is not available if gestures are being detected. Saturation has a
|
|
* range of 0 to 1.0
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return saturation value if the operation was successful or PROS_ERR_F if
|
|
* the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* printf("Saturation value: %lf \n", optical_get_saturation(OPTICAL_PORT));
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double optical_get_saturation(uint8_t port);
|
|
|
|
/**
|
|
* Get the detected color brightness
|
|
*
|
|
* This is not available if gestures are being detected. Brightness has a
|
|
* range of 0 to 1.0
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return brightness value if the operation was successful or PROS_ERR_F if
|
|
* the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* printf("Brightness value: %lf \n", optical_get_brightness(OPTICAL_PORT));
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double optical_get_brightness(uint8_t port);
|
|
|
|
/**
|
|
* Get the detected proximity value
|
|
*
|
|
* This is not available if gestures are being detected. proximity has
|
|
* a range of 0 to 255.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return poximity value if the operation was successful or PROS_ERR if
|
|
* the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* printf("Proximity value: %d \n", optical_get_proximity(OPTICAL_PORT));
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
int32_t optical_get_proximity(uint8_t port);
|
|
|
|
/**
|
|
* Set the pwm value of the White LED
|
|
*
|
|
* value that ranges from 0 to 100
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return 1 if the operation is successful or PROS_ERR if the operation failed,
|
|
* setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* optical_set_led_pwm(OPTICAL_PORT, 50);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
int32_t optical_set_led_pwm(uint8_t port, uint8_t value);
|
|
|
|
/**
|
|
* Get the pwm value of the White LED
|
|
*
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return LED pwm value that ranges from 0 to 100 if the operation was
|
|
* successful or PROS_ERR if the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* printf("PWM Value: %d \n", optical_get_led_pwm(OPTICAL_PORT));
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
int32_t optical_get_led_pwm(uint8_t port);
|
|
|
|
/**
|
|
* Get the processed RGBC data from the sensor
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return rgb value if the operation was successful or an optical_rgb_s_t with
|
|
* all fields set to PROS_ERR if the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* optical_rgb_s_t RGB_values;
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* RGB_values = optical_get_rgb(OPTICAL_PORT);
|
|
* printf("Red value: %lf \n", RGB_values.red);
|
|
* printf("Green value: %lf \n", RGB_values.green);
|
|
* printf("Blue value: %lf \n", RGB_values.blue);
|
|
* printf("Brightness value: %lf \n", RGB_values.brightness);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
optical_rgb_s_t optical_get_rgb(uint8_t port);
|
|
|
|
/**
|
|
* Get the raw, unprocessed RGBC data from the sensor
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return raw rgb value if the operation was successful or an optical_raw_s_t
|
|
* with all fields set to PROS_ERR if the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* optical_raw_s_t raw_values;
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* raw_values = optical_get_raw(OPTICAL_PORT);
|
|
* printf("Red value: %ld \n", raw_values.red);
|
|
* printf("Green value: %ld \n", raw_values.green);
|
|
* printf("Blue value: %ld \n", raw_values.blue);
|
|
* printf("Clear value: %ld \n", raw_values.clear);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
optical_raw_s_t optical_get_raw(uint8_t port);
|
|
|
|
/**
|
|
* Get the most recent gesture data from the sensor
|
|
*
|
|
* Gestures will be cleared after 500mS
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return gesture value if the operation was successful or PROS_ERR if
|
|
* the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* optical_direction_e_t gesture;
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* gesture = optical_get_gesture(OPTICAL_PORT);
|
|
* printf("Gesture value: %d \n", gesture);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
optical_direction_e_t optical_get_gesture(uint8_t port);
|
|
|
|
/**
|
|
* Get the most recent raw gesture data from the sensor
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return gesture value if the operation was successful or an optical_gesture_s_t
|
|
* with all fields set to PROS_ERR if the operation failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* optical_gesture_s_t raw_gesture;
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* raw_gesture = optical_get_gesture_raw(OPTICAL_PORT);
|
|
* printf("Up data: %u \n", raw_gesture.udata);
|
|
* printf("Down data: %u \n", raw_gesture.ddata);
|
|
* printf("Left data: %u \n", raw_gesture.ldata);
|
|
* printf("Right data: %u \n", raw_gesture.rdata);
|
|
* printf("Type: %u \n", raw_gesture.type);
|
|
* printf("Count: %u \n", raw_gesture.count);
|
|
* printf("Time: %lu \n", raw_gesture.time);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
optical_gesture_s_t optical_get_gesture_raw(uint8_t port);
|
|
|
|
/**
|
|
* Enable gesture detection on the sensor
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return 1 if the operation is successful or PROS_ERR if the operation failed,
|
|
* setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* optical_enable_gesture(OPTICAL_PORT);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
int32_t optical_enable_gesture(uint8_t port);
|
|
|
|
/**
|
|
* Disable gesture detection on the sensor
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Optical Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Optical Sensor port number from 1-21
|
|
* \return 1 if the operation is successful or PROS_ERR if the operation failed,
|
|
* setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define OPTICAL_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* while (true) {
|
|
* optical_disable_gesture(OPTICAL_PORT);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
int32_t optical_disable_gesture(uint8_t port);
|
|
|
|
///@}
|
|
|
|
///@}
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#endif
|