com.qualcomm.hardware.ams

Class AMSColorSensorImpl

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<DEVICE_CLIENT>

com.qualcomm.robotcore.hardware.I2cDeviceSynchDeviceWithParameters<I2cDeviceSynchSimple,AMSColorSensor.Parameters>

com.qualcomm.hardware.ams.AMSColorSensorImpl

All Implemented Interfaces:

AMSColorSensor, ColorSensor, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, Light, NormalizedColorSensor, RobotArmingStateNotifier.Callback

Direct Known Subclasses:

AdafruitI2cColorSensor, LynxI2cColorRangeSensor

public abstract class AMSColorSensorImpl
extends I2cDeviceSynchDeviceWithParameters<I2cDeviceSynchSimple,AMSColorSensor.Parameters>
implements AMSColorSensor, I2cAddrConfig, Light

AMSColorSensorImpl is used to support the Adafruit color sensor: http://adafru.it/1334 https://www.adafruit.com/products/1334?&main_page=product_info&products_id=1334 https://github.com/adafruit/Adafruit_TCS34725 More generally, there is a family of color sensors from AMS which this could support http://ams.com/eng/Support/Demoboards/Light-Sensors/(show)/145298 This implementation sits on top of I2cDeviceSynchSimple instead of I2cDevice. That said, if an I2cDeviceSynch is provided instead, advantage will be taken thereof. This class is declared abstract. Subclasses in user code should add @I2cSensor annotations to allow proper registration and life cycle management.

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.hardware.ams.AMSColorSensor

AMSColorSensor.Config, AMSColorSensor.Enable, AMSColorSensor.Gain, AMSColorSensor.LEDDrive, AMSColorSensor.Parameters, AMSColorSensor.Pers, AMSColorSensor.Register, AMSColorSensor.Status, AMSColorSensor.Wait

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	TAG

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDeviceWithParameters

parameters

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Fields inherited from interface com.qualcomm.hardware.ams.AMSColorSensor

AMS_COLOR_COMMAND_BIT, AMS_COLOR_COMMAND_TYPE_AUTO_INCREMENT, AMS_COLOR_COMMAND_TYPE_REPEATED_BYTE, AMS_COLOR_COMMAND_TYPE_RESERVED, AMS_COLOR_COMMAND_TYPE_SPECIAL, AMS_TCS34725_ADDRESS, AMS_TCS34725_ID, AMS_TMD37821_ADDRESS, AMS_TMD37821_ID, AMS_TMD37823_ID

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	AMSColorSensorImpl(AMSColorSensor.Parameters params, I2cDeviceSynchSimple deviceClient, boolean isOwned)

Method Summary

Modifier and Type	Method and Description
int	alpha() Get the amount of light detected by the sensor as an int.
int	argb() Get the sensed ARGB color value from the sensor.
int	blue() Get the Blue values detected by the sensor as an int.
protected void	delay(int ms)
protected void	disable()
protected void	dumpState()
protected void	enable()
void	enableLed(boolean enable) Enable the LED light
byte	getDeviceID() Returns the flavor of the AMS color sensor as reported by the chip itself
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
I2cAddr	getI2cAddress() Get the current I2C Address of this object.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
NormalizedRGBA	getNormalizedColors() Reads the colors from the sensor
int	green() Get the Green values detected by the sensor as an int.
protected boolean	internalInitialize(AMSColorSensor.Parameters parameters) Actually attempts to carry out initialization with the indicated parameter block.
protected boolean	is3782()
protected boolean	isConnectedAndEnabled() Return whether we know we are enabled and still actively able to talk to the device
boolean	isLightOn() Answers whether the light is on or off
protected int	normalToUnsignedShort(float normal)
byte[]	read(AMSColorSensor.Register reg, int cb) Low level: read data starting at the indicated register
byte	read8(AMSColorSensor.Register reg) Low level: read the byte starting at the indicated register
protected byte	readEnable()
protected byte	readEnableAfterWrite()
protected int	readUnsignedByte(AMSColorSensor.Register reg)
protected int	readUnsignedShort(AMSColorSensor.Register reg, java.nio.ByteOrder byteOrder)
int	red() In this implementation, the Color methods return 16 bit unsigned values.
protected void	setGain(AMSColorSensor.Gain gain)
void	setI2cAddress(I2cAddr i2cAddr) Set the I2C address to a new value.
protected void	setIntegrationTime(int atime)
protected void	setPDrive(AMSColorSensor.LEDDrive ledDrive)
protected void	setProximityPulseCount(int proximityPulseCount) From the TMD3782 datasheet: "When the proximity detection feature is enabled (PEN), the state machine transitions through the Prox Accum, Prox Wait, and Prox ADC states.
protected boolean	testBits(byte value, AMSColorSensor.Enable desired)
protected boolean	testBits(byte value, AMSColorSensor.Enable mask, AMSColorSensor.Enable desired)
protected boolean	testBits(byte value, byte desired)
protected boolean	testBits(byte value, byte mask, byte desired)
protected void	updateControl(int mask, int value)
void	write(AMSColorSensor.Register reg, byte[] data) Low level: write data starting at the indicated register
void	write8(AMSColorSensor.Register reg, int data) Low level: write a byte to the indicated register
protected void	writeEnable(int value)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDeviceWithParameters

doInitialize, getParameters, initialize

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.qualcomm.hardware.ams.AMSColorSensor

getParameters, initialize

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

Constructor Detail

AMSColorSensorImpl

protected AMSColorSensorImpl(AMSColorSensor.Parameters params,
                             I2cDeviceSynchSimple deviceClient,
                             boolean isOwned)

Method Detail

internalInitialize

protected boolean internalInitialize(AMSColorSensor.Parameters parameters)

Description copied from class: I2cDeviceSynchDeviceWithParameters

Actually attempts to carry out initialization with the indicated parameter block. If successful, said parameter block should be stored in the I2cDeviceSynchDeviceWithParameters.parameters member variable.

Specified by:

internalInitialize in class I2cDeviceSynchDeviceWithParameters<I2cDeviceSynchSimple,AMSColorSensor.Parameters>

Parameters:

parameters - the parameter block with which to initialize

Returns:

whether initialization was successful or not

dumpState

protected void dumpState()

enable

protected void enable()

disable

protected void disable()

isConnectedAndEnabled

protected boolean isConnectedAndEnabled()

Return whether we know we are enabled and still actively able to talk to the device

testBits

protected boolean testBits(byte value,
                           byte desired)

testBits

protected boolean testBits(byte value,
                           byte mask,
                           byte desired)

testBits

protected boolean testBits(byte value,
                           AMSColorSensor.Enable desired)

testBits

protected boolean testBits(byte value,
                           AMSColorSensor.Enable mask,
                           AMSColorSensor.Enable desired)

writeEnable

protected void writeEnable(int value)

readEnable

protected byte readEnable()

readEnableAfterWrite

protected byte readEnableAfterWrite()

setIntegrationTime

protected void setIntegrationTime(int atime)

setProximityPulseCount

protected void setProximityPulseCount(int proximityPulseCount)

From the TMD3782 datasheet: "When the proximity detection feature is enabled (PEN), the state machine transitions through the Prox Accum, Prox Wait, and Prox ADC states. The Prox Wait time is a fixed 2.4 ms, whereas the Prox Accum time is determined by the number of proximity LED pulses (PPULSE) and the Prox ADC time is determined by the integration time (PTIME). The formulas to determine the Prox Accum and Prox ADC times are given in the associated boxes in Figure 25. If an interrupt is generated as a result of the proximity cycle, it will be asserted at the end of the Prox ADC state." Note: the reference to PTIME in the above seems to be an error, as there is no such register. Though there MIGHT be, but the documentation has been pulled for some reason: mysteriously, register=x02 is missing. Perhaps it was there, and is now undocumented? If PTIME is in fact register two, then it's reset value seems to be 0xff. Which should be the shortest possible integration time.

is3782

protected boolean is3782()

setGain

protected void setGain(AMSColorSensor.Gain gain)

setPDrive

protected void setPDrive(AMSColorSensor.LEDDrive ledDrive)

updateControl

protected void updateControl(int mask,
                             int value)

getDeviceID

public byte getDeviceID()

Description copied from interface: AMSColorSensor

Returns the flavor of the AMS color sensor as reported by the chip itself

Specified by:

getDeviceID in interface AMSColorSensor

Returns:

the flavor of the AMS color sensor as reported by the chip itself

red

public int red()

In this implementation, the Color methods return 16 bit unsigned values.

Specified by:

red in interface ColorSensor

Returns:

reading, unscaled.

green

public int green()

Description copied from interface: ColorSensor

Get the Green values detected by the sensor as an int.

Specified by:

green in interface ColorSensor

Returns:

reading, unscaled.

blue

public int blue()

Description copied from interface: ColorSensor

Get the Blue values detected by the sensor as an int.

Specified by:

blue in interface ColorSensor

Returns:

reading, unscaled.

alpha

public int alpha()

Description copied from interface: ColorSensor

Get the amount of light detected by the sensor as an int.

Specified by:

alpha in interface ColorSensor

Returns:

reading, unscaled.

normalToUnsignedShort

protected int normalToUnsignedShort(float normal)

argb

public int argb()

Description copied from interface: ColorSensor

Get the sensed ARGB color value from the sensor.

Specified by:

argb in interface ColorSensor

Returns:

a packed 32-bit integer (to be interpreted as unsigned) containing all 4 color channels. To extract a specific channel, you can either manually bitshift and bitmask, (e.g. to extract red, (color >> 16) & 0xFF) or you can use the Android color class' red() green() and blue() methods.

getNormalizedColors

public NormalizedRGBA getNormalizedColors()

Description copied from interface: NormalizedColorSensor

Reads the colors from the sensor

Specified by:

getNormalizedColors in interface NormalizedColorSensor

Returns:

the current set of colors from the sensor

enableLed

public void enableLed(boolean enable)

Description copied from interface: ColorSensor

Enable the LED light

Specified by:

enableLed in interface ColorSensor

Parameters:

enable - true to enable; false to disable

isLightOn

public boolean isLightOn()

Description copied from interface: Light

Answers whether the light is on or off

Specified by:

isLightOn in interface Light

Returns:

whether the light is on or off

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: ColorSensor

Get the current I2C Address of this object. Not necessarily the same as the I2C address of the actual device. Return the current I2C address.

Specified by:

getI2cAddress in interface ColorSensor

Specified by:

getI2cAddress in interface I2cAddressableDevice

Returns:

current I2C address

setI2cAddress

public void setI2cAddress(I2cAddr i2cAddr)

Description copied from interface: ColorSensor

Set the I2C address to a new value.

Specified by:

setI2cAddress in interface ColorSensor

Specified by:

setI2cAddress in interface I2cAddrConfig

Parameters:

i2cAddr - the new I2C address to use

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

readUnsignedByte

protected int readUnsignedByte(AMSColorSensor.Register reg)

readUnsignedShort

protected int readUnsignedShort(AMSColorSensor.Register reg,
                                java.nio.ByteOrder byteOrder)

read8

public byte read8(AMSColorSensor.Register reg)

Description copied from interface: AMSColorSensor

Low level: read the byte starting at the indicated register

Specified by:

read8 in interface AMSColorSensor

Parameters:

reg - the location from which to read the data

Returns:

the data that was read

read

public byte[] read(AMSColorSensor.Register reg,
                   int cb)

Description copied from interface: AMSColorSensor

Low level: read data starting at the indicated register

Specified by:

read in interface AMSColorSensor

Parameters:

reg - the location from which to read the data

cb - the number of bytes to read

Returns:

the data that was read

write8

public void write8(AMSColorSensor.Register reg,
                   int data)

Description copied from interface: AMSColorSensor

Low level: write a byte to the indicated register

Specified by:

write8 in interface AMSColorSensor

Parameters:

reg - the location at which to write the data

data - the data to write

write

public void write(AMSColorSensor.Register reg,
                  byte[] data)

Description copied from interface: AMSColorSensor

Low level: write data starting at the indicated register

Specified by:

write in interface AMSColorSensor

delay

protected void delay(int ms)