com.qualcomm.hardware.lynx

Class LynxI2cColorRangeSensor

java.lang.Object

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

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

com.qualcomm.hardware.ams.AMSColorSensorImpl

com.qualcomm.hardware.lynx.LynxI2cColorRangeSensor

All Implemented Interfaces:

AMSColorSensor, ColorRangeSensor, ColorSensor, DistanceSensor, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, Light, LightSensor, NormalizedColorSensor, OpticalDistanceSensor, RobotArmingStateNotifier.Callback

public class LynxI2cColorRangeSensor
extends AMSColorSensorImpl
implements DistanceSensor, OpticalDistanceSensor, ColorRangeSensor

LynxI2cColorRangeSensor is both a color sensor and a distance sensor, supporting both DistanceSensor for calibrated readings and OpticalDistanceSensor (which is an historical name that could perhaps have been chosen better) for raw, uncalibrated readings.

Nested Class Summary

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

HardwareDevice.Manufacturer

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

Field Summary

Fields

Modifier and Type	Field and Description
double	aParam Experimentally determined constants for converting optical measurements to distance.
protected static double	apiLevelMax
protected static double	apiLevelMin
double	bParam
double	cParam

Fields inherited from class com.qualcomm.hardware.ams.AMSColorSensorImpl

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.robotcore.hardware.DistanceSensor

distanceOutOfRange

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

Constructor and Description
LynxI2cColorRangeSensor(I2cDeviceSynchSimple deviceClient)

Method Summary

Modifier and Type	Method and Description
protected double	cmFromOptical(int rawOptical) Converts a raw optical inverse-square reading into a fitted, calibrated linear reading in cm.
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
double	getDistance(DistanceUnit unit) Returns a calibrated, linear sense of distance as read by the infrared proximity part of the sensor.
double	getLightDetected() Get the amount of light detected by the sensor, scaled and cliped to a range which is a pragmatically useful sensitivity.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
double	getRawLightDetected() Returns a signal whose strength is proportional to the intensity of the light measured.
double	getRawLightDetectedMax() Returns the maximum value that can be returned by LightSensor.getRawLightDetected().
int	rawOptical()
java.lang.String	status() Status of this sensor, in string form

Methods inherited from class com.qualcomm.hardware.ams.AMSColorSensorImpl

alpha, argb, blue, delay, disable, dumpState, enable, enableLed, getDeviceID, getI2cAddress, getNormalizedColors, green, internalInitialize, is3782, isConnectedAndEnabled, isLightOn, normalToUnsignedShort, read, read8, readEnable, readEnableAfterWrite, readUnsignedByte, readUnsignedShort, red, setGain, setI2cAddress, setIntegrationTime, setPDrive, setProximityPulseCount, testBits, testBits, testBits, testBits, updateControl, write, write8, writeEnable

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.robotcore.hardware.ColorSensor

alpha, argb, blue, enableLed, getI2cAddress, green, red, setI2cAddress

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

getNormalizedColors

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

enableLed

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

close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

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

getParameters, initialize

Field Detail

apiLevelMin

protected static final double apiLevelMin

See Also:

Constant Field Values

apiLevelMax

protected static final double apiLevelMax

See Also:

Constant Field Values

aParam

public double aParam

Experimentally determined constants for converting optical measurements to distance.

bParam

public double bParam

cParam

public double cParam

Constructor Detail

LynxI2cColorRangeSensor

public LynxI2cColorRangeSensor(I2cDeviceSynchSimple deviceClient)

Method Detail

getDistance

public double getDistance(DistanceUnit unit)

Returns a calibrated, linear sense of distance as read by the infrared proximity part of the sensor. Distance is measured to the plastic housing at the front of the sensor. Natively, the raw optical signal follows an inverse square law. Here, parameters have been fitted to turn that into a linear measure of distance. The function fitted was of the form: rawOptical = a + b * (cm + c)^(-2) This fitted linearity is fairly accurate over a wide range of target surfaces, but is ultimately affected by the infrared reflectivity of the surface. However, even on surfaces where there is significantly different reflectivity, the linearity calculated here tends to be preserved, so distance accuracy can often be refined with a simple further multiplicative scaling. Note that readings are most accurate when perpendicular to the surface. For non-perpendicularity, a cosine correction factor is usually appropriate.

Specified by:

getDistance in interface DistanceSensor

Parameters:

unit - the unit of distance in which the result should be returned

Returns:

the currently measured distance in the indicated units

cmFromOptical

protected double cmFromOptical(int rawOptical)

Converts a raw optical inverse-square reading into a fitted, calibrated linear reading in cm.

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

Overrides:

getDeviceName in class AMSColorSensorImpl

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

Overrides:

getManufacturer in class AMSColorSensorImpl

Returns:

the device's manufacturer

getLightDetected

public double getLightDetected()

Description copied from interface: LightSensor

Get the amount of light detected by the sensor, scaled and cliped to a range which is a pragmatically useful sensitivity. Note that returned values INCREASE as the light energy INCREASES.

Specified by:

getLightDetected in interface LightSensor

Returns:

amount of light, on a scale of 0.0 to 1.0

getRawLightDetected

public double getRawLightDetected()

Description copied from interface: LightSensor

Returns a signal whose strength is proportional to the intensity of the light measured. Note that returned values INCREASE as the light energy INCREASES. The units in which this signal is returned are unspecified.

Specified by:

getRawLightDetected in interface LightSensor

Returns:

a value proportional to the amount of light detected, in unspecified units

getRawLightDetectedMax

public double getRawLightDetectedMax()

Description copied from interface: LightSensor

Returns the maximum value that can be returned by LightSensor.getRawLightDetected().

Specified by:

getRawLightDetectedMax in interface LightSensor

Returns:

the maximum value that can be returned by getRawLightDetected

See Also:

LightSensor.getRawLightDetected()

status

public java.lang.String status()

Description copied from interface: LightSensor

Status of this sensor, in string form

Specified by:

status in interface LightSensor

Returns:

status

rawOptical

public int rawOptical()