opticalSensor.hpp

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/*
 * 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/.
 */
#pragma once
 
#include "api.h"
#include "okapi/api/control/controllerInput.hpp"
#include "okapi/api/filter/passthroughFilter.hpp"
#include <memory>
 
namespace okapi {
enum class OpticalSensorOutput {
  hue,        
  saturation, 
  brightness  
};
 
class OpticalSensor : public ControllerInput<double> {
  public:
  OpticalSensor(std::uint8_t iport,
                OpticalSensorOutput ioutput = OpticalSensorOutput::hue,
                bool idisableGestures = true,
                std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
 
  virtual ~OpticalSensor() = default;
 
  double get();
 
  double getHue() const;
 
  double getBrightness() const;
 
  double getSaturation() const;
 
  int32_t getLedPWM() const;
 
  int32_t setLedPWM(std::uint8_t ivalue) const;
 
  int32_t getProximity() const;
 
  pros::c::optical_rgb_s_t getRGB() const;
 
  double controllerGet() override;
 
  int32_t enableGestures() const;
 
  int32_t disableGestures() const;
 
  protected:
  std::uint8_t port;
  OpticalSensorOutput output;
  std::unique_ptr<Filter> filter;
 
  double getSelectedOutput();
};
} // namespace okapi