okapi::OpticalSensor Class Reference

#include <opticalSensor.hpp>

Inheritance diagram for okapi::OpticalSensor:

Public Member Functions
	OpticalSensor (std::uint8_t iport, OpticalSensorOutput ioutput=OpticalSensorOutput::hue, bool idisableGestures=true, std::unique_ptr< Filter > ifilter=std::make_unique< PassthroughFilter >())
	An optical sensor on a V5 port.
virtual	~OpticalSensor ()=default
double	get ()
	Get the current filtered value of the selected output (configured by the constructor).
double	getHue () const
	Get the current hue value in the range [0, 360).
double	getBrightness () const
	Get the current brightness value in the range [0, 1].
double	getSaturation () const
	Get the current saturation value in the range [0, 1].
int32_t	getLedPWM () const
	Get the PWM value of the white LED in the range [0, 100].
int32_t	setLedPWM (std::uint8_t ivalue) const
	Set the PWM value of the white LED in the range [0, 100].
int32_t	getProximity () const
	Get the current proximity value in the range [0, 255].
pros::c::optical_rgb_s_t	getRGB () const
	Get the processed RGBC data from the sensor.
double	controllerGet () override
	Get the sensor value for use in a control loop.
int32_t	enableGestures () const
	Enable gestures.
int32_t	disableGestures () const
	Disable gestures.

Protected Member Functions
double	getSelectedOutput ()
	Gets the output directly from the sensor using the selected output.

Protected Attributes
std::uint8_t	port
OpticalSensorOutput	output
std::unique_ptr< Filter >	filter

Detailed Description

Definition at line 20 of file opticalSensor.hpp.

Constructor & Destructor Documentation

OpticalSensor()

okapi::OpticalSensor::OpticalSensor	(	std::uint8_t	iport,
		OpticalSensorOutput	ioutput = OpticalSensorOutput::hue,
		bool	idisableGestures = true,
		std::unique_ptr< Filter >	ifilter = std::make_unique< PassthroughFilter >()
	)

An optical sensor on a V5 port.

auto osHue = OpticalSensor(1);
auto osSat = OpticalSensor(1, OpticalSensorOutput::saturation);

Parameters

iport	The V5 port the device uses.
ioutput	Which sensor output to return from (okapi::OpticalSensor::get).
idisableGestures	Whether to automatically disable the gesture sensor. Typically, the gesture sensor should be disabled unless you are going to use gestures because the optical sensor does not update color information while detecting a gesture.
ifilter	The filter to use to filter the sensor output. Only the selected output (via ioutput) is filtered; the other outputs are untouched.

~OpticalSensor()

virtual okapi::OpticalSensor::~OpticalSensor ( )

virtualdefault

Member Function Documentation

controllerGet()

double okapi::OpticalSensor::controllerGet ( )

overridevirtual

Get the sensor value for use in a control loop.

This method might be automatically called in another thread by the controller.

Returns

The same as get.

Implements okapi::ControllerInput< double >.

disableGestures()

int32_t okapi::OpticalSensor::disableGestures

(

)

const

Disable gestures.

Returns

1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

enableGestures()

int32_t okapi::OpticalSensor::enableGestures

(

)

const

Enable gestures.

Returns

1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

get()

double okapi::OpticalSensor::get

(

)

Get the current filtered value of the selected output (configured by the constructor).

Returns

The current filtered value of the selected output (configured by the constructor).

getBrightness()

double okapi::OpticalSensor::getBrightness

(

)

const

Get the current brightness value in the range [0, 1].

Returns

The current brightness value in the range [0, 1].

getHue()

double okapi::OpticalSensor::getHue

(

)

const

Get the current hue value in the range [0, 360).

Returns

The current hue value in the range [0, 360).

getLedPWM()

int32_t okapi::OpticalSensor::getLedPWM

(

)

const

Get the PWM value of the white LED in the range [0, 100].

Returns

The PWM value of the white LED in the range [0, 100] or PROS_ERR if the operation failed, setting errno.

getProximity()

int32_t okapi::OpticalSensor::getProximity

(

)

const

Get the current proximity value in the range [0, 255].

This is not available if gestures are being detected.

Returns

The current proximity value in the range [0, 255].

getRGB()

pros::c::optical_rgb_s_t okapi::OpticalSensor::getRGB

(

)

const

Get the processed RGBC data from the sensor.

Returns

The RGBC value if the operation was successful. If the operation failed, all field are set to PROS_ERR and errno is set.

getSaturation()

double okapi::OpticalSensor::getSaturation

(

)

const

Get the current saturation value in the range [0, 1].

Returns

The current saturation value in the range [0, 1].

getSelectedOutput()

double okapi::OpticalSensor::getSelectedOutput ( )

protected

Gets the output directly from the sensor using the selected output.

setLedPWM()

int32_t okapi::OpticalSensor::setLedPWM

(

std::uint8_t

ivalue

)

const

Set the PWM value of the white LED in the range [0, 100].

Parameters

value

The PWM value in the range [0, 100].

Returns

1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Member Data Documentation

filter

std::unique_ptr<Filter> okapi::OpticalSensor::filter

protected

Definition at line 133 of file opticalSensor.hpp.

output

OpticalSensorOutput okapi::OpticalSensor::output

protected

Definition at line 132 of file opticalSensor.hpp.

port

std::uint8_t okapi::OpticalSensor::port

protected

Definition at line 131 of file opticalSensor.hpp.

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

• include/okapi/impl/device/opticalSensor.hpp