470 lines
14 KiB
C++
470 lines
14 KiB
C++
/**
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* \file pros/optical.hpp
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* \ingroup cpp-optical
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*
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* Contains prototypes for functions related to the VEX Optical sensor.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
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*
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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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* \defgroup cpp-optical VEX Optical Sensor C++ API
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*/
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#ifndef _PROS_OPTICAL_HPP_
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#define _PROS_OPTICAL_HPP_
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#include <stdbool.h>
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#include <cstdint>
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#include <iostream>
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#include "pros/device.hpp"
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#include "pros/optical.h"
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namespace pros {
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inline namespace v5 {
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/**
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* \ingroup cpp-optical
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*/
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class Optical : public Device {
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/**
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* \addtogroup cpp-optical
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* @{
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*/
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public:
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/**
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* Creates an Optical Sensor object for the given port.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \b Example:
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* \code{.cpp}
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* pros::Optical optical(1);
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* \endcode
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*/
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Optical(const std::uint8_t port);
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Optical(const Device& device) : Optical(device.get_port()){};
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/**
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* Gets all optical sensors.
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*
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* \return A vector of Optical sensor objects.
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*
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* \b Example
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* \code
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* void opcontrol() {
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* std::vector<Optical> optical_all = pros::Optical::get_all_devices(); // All optical sensors that are connected
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* }
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* \endcode
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*/
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static std::vector<Optical> get_all_devices();
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/**
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* Get the detected color hue
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*
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* This is not available if gestures are being detected. Hue has a
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* range of 0 to 359.999
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return hue value if the operation was successful or PROS_ERR_F if the operation
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* failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* std::cout << "Hue: " << optical.get_hue() << std::endl;
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* }
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* \endcode
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*/
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virtual double get_hue();
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/**
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* Get the detected color saturation
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*
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* This is not available if gestures are being detected. Saturation has a
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* range of 0 to 1.0
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return saturation value if the operation was successful or PROS_ERR_F if
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* the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* std::cout << "Saturation: " << optical.get_saturation() << std::endl;
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* }
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* \endcode
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*/
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virtual double get_saturation();
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/**
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* Get the detected color brightness
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*
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* This is not available if gestures are being detected. Brightness has a
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* range of 0 to 1.0
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return brightness value if the operation was successful or PROS_ERR_F if
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* the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* std::cout << "Brightness: " << optical.get_brightness() << std::endl;
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* }
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* \endcode
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*/
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virtual double get_brightness();
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/**
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* Get the detected proximity value
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*
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* This is not available if gestures are being detected. proximity has
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* a range of 0 to 255.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return Proximity value if the operation was successful or PROS_ERR if
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* the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* std::cout << "Proximity: " << optical.get_proximity() << std::endl;
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* }
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* \endcode
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*/
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virtual std::int32_t get_proximity();
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/**
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* Set the pwm value of the White LED on the sensor
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*
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* value that ranges from 0 to 100
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return The Error code encountered or PROS_SUCCESS.
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*
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* \b Example:
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* \code{.cpp}
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* void initialize() {
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* pros::Optical optical(1);
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* optical.set_led_pwm(100);
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* }
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* \endcode
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*/
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virtual std::int32_t set_led_pwm(uint8_t value);
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/**
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* Get the pwm value of the White LED on the sensor
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*
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* value that ranges from 0 to 100
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return LED pwm value if the operation was successful or PROS_ERR if
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* the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* optical.set_led_pwm(100);
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* std::cout << "LED PWM: " << optical.get_led_pwm() << std::endl;
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* }
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* \endcode
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*/
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virtual std::int32_t get_led_pwm();
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/**
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* Get the processed RGBC data from the sensor
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return rgb value if the operation was successful or an optical_rgb_s_t
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* with all fields set to PROS_ERR if the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* pros::c::optical_rgb_s_t rgb = optical.get_rgb();
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* while(1) {
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* std::cout << "Red: " << rgb.red << std::endl;
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* std::cout << "Green: " << rgb.green << std::endl;
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* std::cout << "Blue: " << rgb.blue << std::endl;
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* std::cout << "Brightness: " << rgb.brightness << std::endl;
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* pros::delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::c::optical_rgb_s_t get_rgb();
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/**
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* Get the raw un-processed RGBC data from the sensor
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return raw rgb value if the operation was successful or an optical_raw_s_t
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* with all fields set to PROS_ERR if the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* pros::c::optical_raw_s_t raw = optical.get_raw();
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* while (1) {
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* std::cout << "Red: " << raw.red << std::endl;
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* std::cout << "Green: " << raw.green << std::endl;
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* std::cout << "Blue: " << raw.blue << std::endl;
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* std::cout << "Clear: " << raw.clear << std::endl;
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* pros::delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::c::optical_raw_s_t get_raw();
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/**
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* Get the most recent gesture data from the sensor
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*
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* Gestures will be cleared after 500mS
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*
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*
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* 0 = no gesture,
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* 1 = up (towards cable),
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* 2 = down,
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* 3 = right,
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* 4 = left
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return gesture value if the operation was successful or PROS_ERR if
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* the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* while(1) {
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* std::cout << "Gesture: " << optical.get_gesture() << std::endl;
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* pros::delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::c::optical_direction_e_t get_gesture();
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/**
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* Get the most recent raw gesture data from the sensor
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return gesture value if the operation was successful or an optical_gesture_s_t
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* with all fields set to PROS_ERR if the operation failed, setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* optical.enable_gesture();
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* while(1) {
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* pros::c::optical_gesture_s_t gesture = optical.get_gesture_raw();
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* std::cout << "Gesture raw data: " << std::endl;
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* std::cout << "Up data: " << gesture.udata << std::endl;
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* std::cout << "Down data: " << gesture.ddata << std::endl;
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* std::cout << "Left data: " << gesture.ldata << std::endl;
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* std::cout << "Right data: " << gesture.rdata << std::endl;
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* std::cout << "Type: " << gesture.type << std::endl;
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* std::cout << "Count: " << gesture.count << std::endl;
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* std::cout << "Time: " << gesture.time << std::endl;
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* pros::delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::c::optical_gesture_s_t get_gesture_raw();
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/**
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* Enable gesture detection on the sensor
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return 1 if the operation is successful or PROS_ERR if the operation failed,
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* setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* optical.enable_gesture();
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* while(1) {
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* pros::c::optical_gesture_s_t gesture = optical.get_gesture_raw();
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* std::cout << "Gesture raw data: " << std::endl;
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* std::cout << "Up data: " << gesture.udata << std::endl;
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* std::cout << "Down data: " << gesture.ddata << std::endl;
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* std::cout << "Left data: " << gesture.ldata << std::endl;
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* std::cout << "Right data: " << gesture.rdata << std::endl;
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* std::cout << "Type: " << gesture.type << std::endl;
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* std::cout << "Count: " << gesture.count << std::endl;
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* std::cout << "Time: " << gesture.time << std::endl;
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* pros::delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t enable_gesture();
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/**
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* Disable gesture detection on the sensor
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return 1 if the operation is successful or PROS_ERR if the operation failed,
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* setting errno.
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*
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* \b Example:
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* \code{.cpp}
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* void opcontrol() {
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* pros::Optical optical(1);
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* optical.enable_gesture();
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* while(1) {
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* if(optical.get_gesture() != 0) {
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* std::cout << "Gesture detected!"<< std::endl;
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* optical.disable_gesture();
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* }
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* pros::delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t disable_gesture();
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/**
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* Set integration time (update rate) of the optical sensor in milliseconds, with
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* minimum time being 3 ms and maximum time being 712 ms. Default is 100 ms, with the
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* optical sensor communciating with the V5 brain every 20 ms.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \return 1 if the operation is successful or PROS_ERR_F if the operation failed,
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* setting errno.
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*/
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double get_integration_time();
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/**
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* Get integration time (update rate) of the optical sensor in milliseconds.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Optical Sensor
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*
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* \param time
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* The desired integration time in milliseconds
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* \return Integration time in milliseconds if the operation is successful
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* or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t set_integration_time(double time);
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/**
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* This is the overload for the << operator for printing to streams
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*
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* Prints in format(this below is all in one line with no new line):
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* Optical [port: (port number), hue: (hue), saturation: (saturation),
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* brightness: (brightness), proximity: (proximity), rgb: {red, green, blue}]
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*
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* \b Example:
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* \code{.cpp}
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* pros::Optical optical(1);
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* std::cout << optical << std::endl;
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* \endcode
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*/
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friend std::ostream& operator<<(std::ostream& os, pros::Optical& optical);
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private:
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///@}
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};
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namespace literals {
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/**
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* Constructs a Optical sensor from a literal ending in _opt
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*
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* \return a pros::Optical for the corresponding port
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*
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* \b Example
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* \code
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* using namespace pros::literals;
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* void opcontrol() {
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* pros::Optical opt = 2_opt; //Makes an Optical object on port 2
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* }
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* \endcode
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*/
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const pros::Optical operator"" _opt(const unsigned long long int o);
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} // namespace literals
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} // namespace v5
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} // namespace pros
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#endif
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