#include <CanandcolorSettings.h>

Inheritance diagram for redux::sensors::canandcolor::CanandcolorSettings:

Public Member Functions
const std::vector< uint8_t > &	SettingAddresses () const override

void	SetStatusFramePeriod (units::second_t period)

void	SetProximityFramePeriod (units::second_t period)

void	SetColorFramePeriod (units::second_t period)

void	SetDigoutFramePeriod (units::second_t period)

void	SetFramePeriodLatencyAdjustment (bool adjust)

void	SetLampLED (bool lamp)

void	SetLampLEDBrightness (double brightness)

void	SetProximityConfig (CanandcolorProximityConfig &cfg)

void	SetColorConfig (CanandcolorColorPeriod period)

void	SetDigoutOutputMode (CanandcolorDigout digout, DigoutMode config)

std::optional< units::second_t >	GetStatusFramePeriod ()

std::optional< units::second_t >	GetProximityFramePeriod ()

std::optional< units::second_t >	GetColorFramePeriod ()

std::optional< units::second_t >	GetDigoutFramePeriod ()

std::optional< bool >	GetFramePeriodLatencyAdjustment ()

std::optional< bool >	GetLampLED ()

std::optional< double >	GetLampLEDBrightness ()

std::optional< CanandcolorProximityConfig >	GetProximityConfig ()

std::optional< CanandcolorColorPeriod >	GetColorConfig ()

std::optional< DigoutMode >	GetDigoutOutputMode (CanandcolorDigout digout)

Public Member Functions inherited from redux::canand::CanandSettings
	CanandSettings ()=default

	CanandSettings (CanandSettings &stg)

	~CanandSettings ()=default

std::unordered_map< uint8_t, uint64_t >	FilteredMap ()

bool	AllSettingsReceived () const

virtual const std::vector< uint8_t > &	SettingAddresses () const

std::unordered_map< uint8_t, uint64_t > &	GetMap ()

bool	IsEmpty () const

bool	IsEphemeral () const

void	SetEphemeral (bool value)

std::string	ToString ()

Additional Inherited Members
Protected Attributes inherited from redux::canand::CanandSettings
std::unordered_map< uint8_t, uint64_t >	values

bool	ephemeral = false

Detailed Description

The settings class for the Canandcolor.

This class holds settings values that can be used to reconfigure Canandcolor via Canandcolor::SetSettings. Additionally, objects of this class are returned from Canandcolor::GetSettings which can be used to read the device's settings.

Canandcolor canandcolor{0};
 
// Only settings that are explicitly set here will be edited, so other settings 
// such as the status frame period will remain untouched.
 
CanandcolorSettings stg{};
stg.SetProximityFramePeriod(0_ms); // disables proximity reading updates
stg.SetColorFramePeriod(0.020_ms); // sets the rate of color measurements to every 20 ms
stg.SetColorConfig(CanandcolorColorPeriod::k80ms); // sets the color integration period to 80 milliseconds
// canandcolor.SetSettings will block by default for up to 500 ms to confirm all values were set.
canandcolor.SetSettings(stg);

Note that all Get[setting name] functions may return -1 if they're not populated as CanandcolorSettings objects may not always have a value set for a setting. This is particularly true of instances returned by Canandcolor::GetSettingsAsync(), and you will need to use CanandcolorSettings::AllSettingsReceived() to check if all are present.

However, objects returned by the blocking Canandcolor::GetSettings method will always have all setting values populated.

Example blocking fetch:

Canandcolor canandcolor{0};
CanandcolorSettings stg = canandcolor.GetSettings(0.5_s); // wait up to 500 ms
if (stg.AllSettingsReceived()) { // check if settings received properly. if so, none of the getters will return std::nullopt
    fmt::print("status frame period: {}\n", *stg.GetStatusFramePeriod()); // print the status frame period (usually 1000 ms)
}

Member Function Documentation

◆ GetColorConfig()

std::optional< CanandcolorColorPeriod > redux::sensors::canandcolor::CanandcolorSettings::GetColorConfig ( )

Gets the device's sampling/integration period for the color sensor, if set.

Returns: CanandcolorColorPeriod enum or std::nullopt if unset

◆ GetColorFramePeriod()

std::optional< units::second_t > redux::sensors::canandcolor::CanandcolorSettings::GetColorFramePeriod ( )

Gets the color frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object. A value of 0 means color messages are disabled.

Returns: the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

◆ GetDigoutFramePeriod()

std::optional< units::second_t > redux::sensors::canandcolor::CanandcolorSettings::GetDigoutFramePeriod ( )

Gets the digout status frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object. A value of 0 means digout status messages are disabled.

Returns: the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

◆ GetDigoutOutputMode()

std::optional< DigoutMode > redux::sensors::canandcolor::CanandcolorSettings::GetDigoutOutputMode ( CanandcolorDigout digout )

Sets the output mode configuration of a digital output pad.

Parameters

digout the digital output config to fetch

Returns: DigoutMode or null if unset

◆ GetFramePeriodLatencyAdjustment()

std::optional< bool > redux::sensors::canandcolor::CanandcolorSettings::GetFramePeriodLatencyAdjustment ( )

Gets whether or not to transmit frame periods early if data has just been received. By factory default this setting is enabled.

Returns: true if on, false if off, std::nullopt if unset

◆ GetLampLED()

std::optional< bool > redux::sensors::canandcolor::CanandcolorSettings::GetLampLED ( )

Gets whether or not the onboard lamp LED setting is to be on.

Returns: true if on, false if off, std::nullopt if unset

◆ GetLampLEDBrightness()

std::optional< double > redux::sensors::canandcolor::CanandcolorSettings::GetLampLEDBrightness ( )

Gets the lamp LED's brightness, scaled from 0.0 (off) to 1.0 (max)

Returns: the brightness factor [0.0..1.0] or std::nullopt if unset

◆ GetProximityConfig()

std::optional< CanandcolorProximityConfig > redux::sensors::canandcolor::CanandcolorSettings::GetProximityConfig ( )

Gets whether or not the onboard lamp LED setting is to be on.

Returns: true if on, false if off, std::nullopt if unset

◆ GetProximityFramePeriod()

std::optional< units::second_t > redux::sensors::canandcolor::CanandcolorSettings::GetProximityFramePeriod ( )

Gets the proximity frame period in seconds [1..65.535], or std::nullopt if the value has not been set on this object. A value of 0 means proximity messages are disabled.

Returns: the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

◆ GetStatusFramePeriod()

std::optional< units::second_t > redux::sensors::canandcolor::CanandcolorSettings::GetStatusFramePeriod ( )

Gets the status frame period in seconds [1..65.535], or std::nullopt if the value has not been set on this object.

Returns: the status frame period in seconds [1..65.535], or std::nullopt if the value has not been set on this object.

◆ SetColorConfig()

void redux::sensors::canandcolor::CanandcolorSettings::SetColorConfig ( CanandcolorColorPeriod period )

Sets the sampling/integration period for the color sensor.

Parameters

period the CanandcolorColorPeriod to apply

◆ SetColorFramePeriod()

void redux::sensors::canandcolor::CanandcolorSettings::SetColorFramePeriod ( units::second_t period )

Sets the color frame period in seconds. By factory default, color frames are broadcast every 40 milliseconds (period=0.04). If 0 is passed in, color frames will be disabled and Canandcolor::GetColor() and other color-reading methods will not return new values.

Parameters

period the new period for color frames in seconds in range [0_s, 65.535_s].

◆ SetDigoutFramePeriod()

void redux::sensors::canandcolor::CanandcolorSettings::SetDigoutFramePeriod ( units::second_t period )

Sets the digital output (digout) frame period in seconds. By factory default, digout frames are broadcast every 100 milliseconds (period=0.10). If 0 is passed in, digout frames will be disabled and Canandcolor::GetDigoutState() will not return new values.

Parameters

period the new period for digout frames in seconds in range [0_s, 65.535_s].

◆ SetDigoutOutputMode()

void redux::sensors::canandcolor::CanandcolorSettings::SetDigoutOutputMode	(	CanandcolorDigout	digout,
		DigoutMode	config
	)

Sets the output mode of a digital output pad.

Digout pins can be set into one of three modes:

disabled, by passing in DigoutMode::Disabled()
high or low via digout slots, by passing in DigoutMode::DigoutSlot() and using Canandcolor::SetDigoutSlot
a duty cycle (PWM) output of values from either the color or proximity sensor, by passing in DigoutMode::DutyCycle)

Parameters

digout	the digout to configure (either CanandcolorDigout::kDigout1 or CanandcolorDigout::kDigout2)
config	a DigoutMode specifying how the digital output should output if at all. See DigoutMode for example usage.

◆ SetFramePeriodLatencyAdjustment()

void redux::sensors::canandcolor::CanandcolorSettings::SetFramePeriodLatencyAdjustment ( bool adjust )

Sets whether or not to transmit frame periods early if data has just been received. This applies only in the case where frame periods for color and proximity are equal to or less than the configured sampling periods of their corresponding ICs, which is true by default.

This increases CAN utilization a little, but minimizes latency.

By factory default this setting is enabled.

Parameters

adjust Whether to enable latency adjustment

◆ SetLampLED()

void redux::sensors::canandcolor::CanandcolorSettings::SetLampLED ( bool lamp )

Sets whether or not the onboard lamp LED is to be powered.

The LED can als be physically turned off regardless of setting with the onboard switch.

The LED is useful for measuring the color of objects that do not themselves emit light (e.g. most game pieces) or for using the white channel to estimate very close proximity.

By factory default this setting is enabled.

Parameters

lamp	whether to enable or disable the lamp LED

◆ SetLampLEDBrightness()

void redux::sensors::canandcolor::CanandcolorSettings::SetLampLEDBrightness ( double brightness )

Sets the brightness of the onboard lamp LED.

The LED can als be physically turned off regardless of setting with the onboard switch.

By factory default this setting is set to max brightness (1.0)

Parameters

brightness scaled brightness from 0.0 (off) to 1.0 (max brightness)

◆ SetProximityConfig()

void redux::sensors::canandcolor::CanandcolorSettings::SetProximityConfig ( CanandcolorProximityConfig & cfg )

Sets fine-tuned settings for the proximity sensor through values in a CanandcolorProximityConfig object.

Parameters

cfg	the configruation object to apply setings from

◆ SetProximityFramePeriod()

void redux::sensors::canandcolor::CanandcolorSettings::SetProximityFramePeriod ( units::second_t period )

Sets the proximity frame period in seconds. By factory default, proximity frames are broadcast every 10 milliseconds (period=0.01). If 0 is passed in, proximity frames will be disabled and Canandcolor::GetProximity() will not return new values.

Parameters

period the new period for proximity frames in seconds in range [0_s, 65.535_s].

◆ SetStatusFramePeriod()

void redux::sensors::canandcolor::CanandcolorSettings::SetStatusFramePeriod ( units::second_t period )

Sets the status frame period in seconds. By factory default, the device will broadcast 1 status message every second (period=1.0).

Parameters

period the new period for status frames in seconds in range [1.0_s, 65.535_s].

◆ SettingAddresses()

const std::vector< uint8_t > & redux::sensors::canandcolor::CanandcolorSettings::SettingAddresses ( ) const

overridevirtual

Gets the array of settings addresses this settings class records.

Returns: DetailsKey array

Reimplemented from redux::canand::CanandSettings.

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

src/main/native/include/redux/sensors/canandcolor/CanandcolorSettings.h

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ GetColorConfig()

◆ GetColorFramePeriod()

◆ GetDigoutFramePeriod()

◆ GetDigoutOutputMode()

◆ GetFramePeriodLatencyAdjustment()

◆ GetLampLED()

◆ GetLampLEDBrightness()

◆ GetProximityConfig()

◆ GetProximityFramePeriod()

◆ GetStatusFramePeriod()

◆ SetColorConfig()

◆ SetColorFramePeriod()

◆ SetDigoutFramePeriod()

◆ SetDigoutOutputMode()

◆ SetFramePeriodLatencyAdjustment()

◆ SetLampLED()

◆ SetLampLEDBrightness()

◆ SetProximityConfig()

◆ SetProximityFramePeriod()

◆ SetStatusFramePeriod()

◆ SettingAddresses()