141 lines
4.4 KiB
C++
141 lines
4.4 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "api.h"
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#include "okapi/api/control/controllerInput.hpp"
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#include "okapi/api/filter/passthroughFilter.hpp"
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#include <memory>
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namespace okapi {
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enum class OpticalSensorOutput {
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hue, ///< The color.
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saturation, ///< The color's intensity relative to its brightness.
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brightness ///< The amount of light.
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};
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class OpticalSensor : public ControllerInput<double> {
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public:
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/**
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* An optical sensor on a V5 port.
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*
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* ```cpp
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* auto osHue = OpticalSensor(1);
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* auto osSat = OpticalSensor(1, OpticalSensorOutput::saturation);
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* ```
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*
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* @param iport The V5 port the device uses.
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* @param ioutput Which sensor output to return from (@ref okapi::OpticalSensor::get).
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* @param idisableGestures Whether to automatically disable the gesture sensor. Typically, the
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* gesture sensor should be disabled unless you are going to use gestures because the optical
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* sensor does not update color information while detecting a gesture.
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* @param ifilter The filter to use to filter the sensor output. Only the selected output (via
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* ``ioutput``) is filtered; the other outputs are untouched.
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*/
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OpticalSensor(std::uint8_t iport,
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OpticalSensorOutput ioutput = OpticalSensorOutput::hue,
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bool idisableGestures = true,
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std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
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virtual ~OpticalSensor() = default;
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/**
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* Get the current filtered value of the selected output (configured by the constructor).
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*
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* @return The current filtered value of the selected output (configured by the constructor).
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*/
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double get();
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/**
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* Get the current hue value in the range ``[0, 360)``.
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*
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* @return The current hue value in the range ``[0, 360)``.
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*/
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double getHue() const;
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/**
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* Get the current brightness value in the range ``[0, 1]``.
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*
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* @return The current brightness value in the range ``[0, 1]``.
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*/
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double getBrightness() const;
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/**
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* Get the current saturation value in the range ``[0, 1]``.
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*
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* @return The current saturation value in the range ``[0, 1]``.
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*/
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double getSaturation() const;
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/**
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* Get the PWM value of the white LED in the range ``[0, 100]``.
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*
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* @return The PWM value of the white LED in the range ``[0, 100]`` or ``PROS_ERR`` if the
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* operation failed, setting ``errno``.
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*/
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int32_t getLedPWM() const;
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/**
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* Set the PWM value of the white LED in the range ``[0, 100]``.
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*
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* @param value The PWM value in the range ``[0, 100]``.
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* @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
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* ``errno``.
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*/
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int32_t setLedPWM(std::uint8_t ivalue) const;
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/**
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* Get the current proximity value in the range ``[0, 255]``. This is not available if gestures
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* are being detected.
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*
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* @return The current proximity value in the range ``[0, 255]``.
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*/
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int32_t getProximity() const;
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/**
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* Get the processed RGBC data from the sensor.
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*
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* @return The RGBC value if the operation was successful. If the operation failed, all field are
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* set to ``PROS_ERR`` and ``errno`` is set.
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*/
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pros::c::optical_rgb_s_t getRGB() const;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return The same as [get](@ref okapi::OpticalSensor::get).
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*/
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double controllerGet() override;
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/**
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* Enable gestures.
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*
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* @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
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* ``errno``.
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*/
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int32_t enableGestures() const;
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/**
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* Disable gestures.
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*
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* @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
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* ``errno``.
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*/
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int32_t disableGestures() const;
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protected:
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std::uint8_t port;
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OpticalSensorOutput output;
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std::unique_ptr<Filter> filter;
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/**
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* Gets the output directly from the sensor using the selected output.
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*/
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double getSelectedOutput();
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};
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} // namespace okapi
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