Package com.reduxrobotics.sensors.canandcolor

Class CanandcolorProximityConfig

java.lang.Object

com.reduxrobotics.sensors.canandcolor.CanandcolorProximityConfig

public class CanandcolorProximityConfig
extends Object

Class representing the internal configuration of the Canandcolor's proximity IC. Generally passed to functions in Canandcolor.Settings which may be then used with Canandcolor.setSettings(com.reduxrobotics.sensors.canandcolor.Canandcolor.Settings, double, int) to configure the device.

The default values that ship with the Canandcolor are good for the vast majority of cases so tweaking these settings isn't necessary, especially as the distances that these settings really make a difference at are generally too small (think <1cm) to matter, and the power savings are generally not useful at FRC scales. However, we still include them for completeness as theoretically they may still be useful to someone -- please let us know if they are!

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	CanandcolorProximityConfig.IntegrationPeriod	Represents the valid integration periods for the proximity sensor.
static enum	CanandcolorProximityConfig.LEDCurrent	Determines how much current gets dumped into the IR LED and thus its intensity.
static enum	CanandcolorProximityConfig.MultiPulse	Determines how many IR LED pulses get sent out during proximity reads.
static enum	CanandcolorProximityConfig.SamplingPeriod	Represents the valid sampling periods for the proximity sensor.

Constructor Summary

Constructors

Constructor	Description
CanandcolorProximityConfig()	Initializes a new proximity config with the default recommended values.
CanandcolorProximityConfig(int field)	Initializes the config with a long as returned by a report settings CAN message (used internally).
CanandcolorProximityConfig(CanandcolorProximityConfig cfg)	Initializes the config with the values from another CanandcolorProximityConfig object (copy constructor).
CanandcolorProximityConfig(CanandcolorProximityConfig.SamplingPeriod samplingPeriod, CanandcolorProximityConfig.IntegrationPeriod integrationPeriod, CanandcolorProximityConfig.LEDCurrent ledCurrent, CanandcolorProximityConfig.MultiPulse multiPulse, boolean highGainMode, boolean sunlightCancellation, int offsetCancellation)	Initializes the config setting every possible field at once.

Method Summary

Modifier and Type	Method	Description
int	getField()	Returns the internal integer representation of the proximity config which gets written over the wire to the device.
boolean	getHighGainMode()	Returns whether or not high gain mode is enabled or not.
CanandcolorProximityConfig.IntegrationPeriod	getIntegrationPeriod()	Returns the sensor integration period associated with this proximity config
CanandcolorProximityConfig.LEDCurrent	getLEDCurrent()	Returns the sensor LED current associated with this proximity config
CanandcolorProximityConfig.MultiPulse	getMultiPulse()	Returns the sensor multi-pulse value associated with this proximity config
int	getOffsetCancellationValue()	Returns the 12-bit offset that is subtracted from readings to compensate for ambient IR.
CanandcolorProximityConfig.SamplingPeriod	getSamplingPeriod()	Returns the sampling period associated with this proximity config
boolean	getSunlightCancellation()	Returns whether or not sunlight cancellation is enabled or not.
CanandcolorProximityConfig	setHighGainMode(boolean hg)	Sets whether to use high gain mode.
CanandcolorProximityConfig	setIntegrationPeriod(CanandcolorProximityConfig.IntegrationPeriod period)	Sets the proximity sensor integration period config.
CanandcolorProximityConfig	setLEDCurrent(CanandcolorProximityConfig.LEDCurrent current)	Sets the proximity sensor LED currentconfig.
CanandcolorProximityConfig	setMultiPulse(CanandcolorProximityConfig.MultiPulse pulse)	Sets the proximity sensor multi-pulse config.
CanandcolorProximityConfig	setOffsetCancellationValue(int canc)	Sets a fixed 12-bit value to subtract from readings to compensate for ambient IR.
CanandcolorProximityConfig	setSamplingPeriod(CanandcolorProximityConfig.SamplingPeriod period)	Sets the proximity sensor sampling period config.
CanandcolorProximityConfig	setSunlightCancellation(boolean sunlight)	Sets whether to use sunlight cancellation.

Methods inherited from class java.lang.Object

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

Constructor Details

CanandcolorProximityConfig

public CanandcolorProximityConfig()

Initializes a new proximity config with the default recommended values.

CanandcolorProximityConfig

public CanandcolorProximityConfig(int field)

Initializes the config with a long as returned by a report settings CAN message (used internally).

Parameters:

field - the raw data field from the report settings message (see the official Canandcolor device spec for more information)

CanandcolorProximityConfig

public CanandcolorProximityConfig(CanandcolorProximityConfig.SamplingPeriod samplingPeriod,
 CanandcolorProximityConfig.IntegrationPeriod integrationPeriod,
 CanandcolorProximityConfig.LEDCurrent ledCurrent,
 CanandcolorProximityConfig.MultiPulse multiPulse,
 boolean highGainMode,
 boolean sunlightCancellation,
 int offsetCancellation)

Initializes the config setting every possible field at once.

Parameters:

samplingPeriod - the sensor sampling period

integrationPeriod - the sensor integration period

ledCurrent - the sensor's led current

multiPulse - the sensor's multi-pulse config

highGainMode - whether to enable high-gain mode

sunlightCancellation - whether to enable sunlight cancellation

offsetCancellation - the raw offset to subtract from the output

CanandcolorProximityConfig

public CanandcolorProximityConfig(CanandcolorProximityConfig cfg)

Initializes the config with the values from another CanandcolorProximityConfig object (copy constructor).

Parameters:

cfg - the object to copy from.

Method Details

getSamplingPeriod

public CanandcolorProximityConfig.SamplingPeriod getSamplingPeriod()

Returns the sampling period associated with this proximity config

Returns:

CanandcolorProximityConfig.SamplingPeriod

See Also:

• CanandcolorProximityConfig.SamplingPeriod

getIntegrationPeriod

public CanandcolorProximityConfig.IntegrationPeriod getIntegrationPeriod()

Returns the sensor integration period associated with this proximity config

Returns:

CanandcolorProximityConfig.IntegrationPeriod

See Also:

• CanandcolorProximityConfig.IntegrationPeriod

getLEDCurrent

public CanandcolorProximityConfig.LEDCurrent getLEDCurrent()

Returns the sensor LED current associated with this proximity config

Returns:

CanandcolorProximityConfig.LEDCurrent

See Also:

• CanandcolorProximityConfig.LEDCurrent

getMultiPulse

public CanandcolorProximityConfig.MultiPulse getMultiPulse()

Returns the sensor multi-pulse value associated with this proximity config

Returns:

CanandcolorProximityConfig.MultiPulse

See Also:

• CanandcolorProximityConfig.MultiPulse

getHighGainMode

public boolean getHighGainMode()

Returns whether or not high gain mode is enabled or not.

Returns:

high gain mode

getSunlightCancellation

public boolean getSunlightCancellation()

Returns whether or not sunlight cancellation is enabled or not.

Returns:

sunlight cancellation state

getOffsetCancellationValue

public int getOffsetCancellationValue()

Returns the 12-bit offset that is subtracted from readings to compensate for ambient IR.

Returns:

offset value

setSamplingPeriod

public CanandcolorProximityConfig setSamplingPeriod(CanandcolorProximityConfig.SamplingPeriod period)

Sets the proximity sensor sampling period config. For more information see CanandcolorProximityConfig.SamplingPeriod

Parameters:

period - the CanandcolorProximityConfig.SamplingPeriod to use

Returns:

calling object (so calls may be chained)

setIntegrationPeriod

public CanandcolorProximityConfig setIntegrationPeriod(CanandcolorProximityConfig.IntegrationPeriod period)

Sets the proximity sensor integration period config. For more information see CanandcolorProximityConfig.IntegrationPeriod.

Parameters:

period - the CanandcolorProximityConfig.IntegrationPeriod to use.

Returns:

calling object (so calls may be chained)

setLEDCurrent

public CanandcolorProximityConfig setLEDCurrent(CanandcolorProximityConfig.LEDCurrent current)

Sets the proximity sensor LED currentconfig. For more information see CanandcolorProximityConfig.LEDCurrent.

Parameters:

current - the CanandcolorProximityConfig.LEDCurrent to use.

Returns:

calling object (so calls may be chained)

setMultiPulse

public CanandcolorProximityConfig setMultiPulse(CanandcolorProximityConfig.MultiPulse pulse)

Sets the proximity sensor multi-pulse config. For more information see CanandcolorProximityConfig.MultiPulse.

Parameters:

pulse - the CanandcolorProximityConfig.MultiPulse to use.

Returns:

calling object (so calls may be chained)

setHighGainMode

public CanandcolorProximityConfig setHighGainMode(boolean hg)

Sets whether to use high gain mode.

Parameters:

hg - true=high gain, false=disabled (default)

Returns:

calling object (so calls may be chained)

setSunlightCancellation

public CanandcolorProximityConfig setSunlightCancellation(boolean sunlight)

Sets whether to use sunlight cancellation. May be useful on open air baseball fields with painfully loud speakers.

Parameters:

sunlight - true=sunlight cancellation, false=disabled (default)

Returns:

calling object (so calls may be chained)

setOffsetCancellationValue

public CanandcolorProximityConfig setOffsetCancellationValue(int canc)

Sets a fixed 12-bit value to subtract from readings to compensate for ambient IR.

Parameters:

canc - the value to subtract

Returns:

calling object (so calls may be chained)

getField

public int getField()

Returns the internal integer representation of the proximity config which gets written over the wire to the device.

Returns:

relevant integer.