frc::TMD37003 Class Reference

Public Member Functions
	TMD37003 (I2C::Port i2cPort)
void	ConfigureColorSense (double alsIntegrationTime, int alsGain)
void	ConfigureProximitySense (double proximitySampleTime, double proximityPulseLength, int numProximityPulses, int proximityGain, int proximityLedCurrent)
void	SetGain (double r, double g, double b, double c, double gamma)
Color	GetColor ()
double	GetHue ()
double	GetSaturation ()
double	GetRed ()
double	GetGreen ()
double	GetBlue ()
double	GetAmbientLightLevel ()
double	GetProximity ()

Constructor & Destructor Documentation

TMD37003()

TMD37003::TMD37003

(

I2C::Port

i2cPort

)

Create Instance of TMD3700 color sensor driver.

Parameters

i2cPort

Internal/MXP I2C port on the roboRIO

Member Function Documentation

ConfigureColorSense()

void TMD37003::ConfigureColorSense	(	double	alsIntegrationTime,
		int	alsGain
	)

Configure TMD3700 Color (Ambient Light Sensing) parameters.

Parameters

alsIntegrationTime	Color sensing sample time in milliseconds. Value may range from 2.8 to 721ms. Longer sample times act to filtered the sampled color.
alsGain	Color sensor gain as a value between 1 and 64.

ConfigureProximitySense()

void TMD37003::ConfigureProximitySense	(	double	proximitySampleTime,
		double	proximityPulseLength,
		int	numProximityPulses,
		int	proximityGain,
		int	proximityLedCurrent
	)

Configure TMD3700 Proximity sense parameters.

Parameters

proximitySampleTime	Proximity sensing sample time in milliseconds. Value may range from 0.088 to 22.528 ms.
proximityPulseLength	Lengh of each IR LED pulse during proximity measurement in milliseconds. Value must fall between 0.004 and 0.032 ms.
numProximityPulses	Number of proximity IR LED pulses which occur during each sample period
proximityGain	Proximity sensor gain as a value between 1 and 8.
proximityLedCurrent	Proximity IR LED current in milliamps. Value must fall between 6 and 192 mA

GetAmbientLightLevel()

double TMD37003::GetAmbientLightLevel

(

)

Get clear (Ambient) channel value.

Returns

Normalized clear channel value as ratio between 0 and 1.

GetBlue()

double TMD37003::GetBlue

(

)

Get blue channel value.

Returns

Normalized blue channel value as ratio between 0 and 1..

GetColor()

Color TMD37003::GetColor

(

)

Get gamma corrected RGB values from sensor

Returns

Value of RGB samples

GetGreen()

double TMD37003::GetGreen

(

)

Get green channel value.

Returns

Normalized green channel value as ratio between 0 and 1..

GetHue()

double TMD37003::GetHue

(

)

Get the measured color (hue).

Returns

Measured hue in degrees

GetProximity()

double TMD37003::GetProximity

(

)

Get proximity value.

Returns

Normalized proximity value as ratio between 0 and 1.

GetRed()

double TMD37003::GetRed

(

)

Get red channel value.

Returns

Normalized red channel value as ratio between 0 and 1..

GetSaturation()

double TMD37003::GetSaturation

(

)

Get measured color saturation.

Returns

Measured saturation as ratio between 0 and 1

SetGain()

void TMD37003::SetGain	(	double	r,
		double	g,
		double	b,
		double	c,
		double	gamma
	)

Specifiy gains and gamma value to convert raw RGB samples to normalized RGB values to aproximate sRGB space.

The default gains are calibrated for the built in white LED. If another lighting source is used this function may be required to specify the white point.

Channels are calculated using:

{Normilized value} = ({Raw value} * gain) ^ (1/gamma)

Parameters

r	Red channel gain
g	Green channel gain
b	Blue channel gain
c	Clear (ambient) channel gain
gamma	Gamma vaulke used to convert raw (linear) samples to something that responds like a human eye

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

• src/main/native/include/TMD37003.h
• src/main/native/cpp/TMD37003.cpp