Package com.reduxrobotics.sensors.canandcolor

Class RGBDigoutConfig

java.lang.Object

com.reduxrobotics.sensors.canandcolor.DigoutConfig

com.reduxrobotics.sensors.canandcolor.RGBDigoutConfig

public final class RGBDigoutConfig
extends DigoutConfig

A digital output configuration that uses RGB thresholds.

Basic usage example:

 Canandcolor color = new Canandcolor(0);
 // Check if the an object is close and the color sensor is seeing red for at least 10 milliseconds,
 color.digout1().configureSlots(new RGBDigoutConfig()
   .setMaxProximity(0.25)
   .setProximityInRangeFor(0.01)
   .setMinRed(0.1)
   .setColorInRangeFor(0.01)
 );
 // Instantly send CAN digout frames when the above condition changes at all.
 color.digout1().configureFrameTrigger(DigoutFrameTrigger.kRisingAndFalling);
 // Configure the DIG-1 GPIO pin to also output the condition
 color.digout1().configureOutputPin(DigoutPinConfig.kDigoutLogicActiveHigh);
 // Check value over CAN
 color.digout1().getValue();
 

See Also:

• DigoutChannel.configureSlots(DigoutConfig)

Constructor Summary

Constructors

Constructor	Description
RGBDigoutConfig()	Default constructor.

Method Summary

Modifier and Type	Method	Description
RGBDigoutConfig	setColorInRangeFor(double seconds)	Sets the minimum time that the color readings have to match the upper and lower RGB thresholds in order for the digout channel to be true.
RGBDigoutConfig	setMaxBlue(double thresh)	Sets the value that the blue color reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setMaxGreen(double thresh)	Sets the value that the green color reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setMaxProximity(double thresh)	Sets the value that the proximity reading has to be less than or equal to for the digout channel to be true.
RGBDigoutConfig	setMaxRed(double thresh)	Sets the value that the red color reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setMinBlue(double thresh)	Sets the value that the blue color reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setMinGreen(double thresh)	Sets the value that the green color reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setMinProximity(double thresh)	Sets the value that the proximity reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setMinRed(double thresh)	Sets the value that the red color reading has to be greater than or equal to for the digout channel to be true.
RGBDigoutConfig	setProximityInRangeFor(double seconds)	Sets the minimum time that the proximity reading has to match the upper and lower thresholds in order for the digout channel to be true.

Methods inherited from class java.lang.Object

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

Constructor Details

RGBDigoutConfig

public RGBDigoutConfig()

Default constructor.

Method Details

setMinProximity

public RGBDigoutConfig setMinProximity(double thresh)

Sets the value that the proximity reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 0.0

Parameters:

thresh - proximity threshold

Returns:

calling object

setMaxProximity

public RGBDigoutConfig setMaxProximity(double thresh)

Sets the value that the proximity reading has to be less than or equal to for the digout channel to be true.

If not specified, this value is 1.0

Parameters:

thresh - proximity threshold

Returns:

calling object

setProximityInRangeFor

public RGBDigoutConfig setProximityInRangeFor(double seconds)

Sets the minimum time that the proximity reading has to match the upper and lower thresholds in order for the digout channel to be true.

This can be used to "debounce" readings by requiring the proximity to match the thresholds for multiple readings.

This threshold has millisecond resolution, but the units are still seconds.

Parameters:

seconds - The minimum number of seconds. The default value is 0 (zero time required)

Returns:

calling object

setMinRed

public RGBDigoutConfig setMinRed(double thresh)

Sets the value that the red color reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 0.0

Parameters:

thresh - color value threshold

Returns:

calling object

setMaxRed

public RGBDigoutConfig setMaxRed(double thresh)

Sets the value that the red color reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 1.0

Parameters:

thresh - color value threshold

Returns:

calling object

setMinGreen

public RGBDigoutConfig setMinGreen(double thresh)

Sets the value that the green color reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 0.0

Parameters:

thresh - color value threshold

Returns:

calling object

setMaxGreen

public RGBDigoutConfig setMaxGreen(double thresh)

Sets the value that the green color reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 1.0

Parameters:

thresh - color value threshold

Returns:

calling object

setMinBlue

public RGBDigoutConfig setMinBlue(double thresh)

Sets the value that the blue color reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 0.0

Parameters:

thresh - color value threshold

Returns:

calling object

setMaxBlue

public RGBDigoutConfig setMaxBlue(double thresh)

Sets the value that the blue color reading has to be greater than or equal to for the digout channel to be true.

If not specified, this value is 1.0

Parameters:

thresh - color value threshold

Returns:

calling object

setColorInRangeFor

public RGBDigoutConfig setColorInRangeFor(double seconds)

Sets the minimum time that the color readings have to match the upper and lower RGB thresholds in order for the digout channel to be true.

This can be used to "debounce" readings by requiring the color to match the thresholds for multiple readings.

This threshold has millisecond resolution, but the units are still seconds.

Parameters:

seconds - The minimum number of seconds. The default value is 0 (zero time required)

Returns:

calling object