vex_optical.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2019, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_optical.h                                               */
/*    Author:     James Pearman                                               */
/*    Created:    26 May 2020                                                 */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_OPTICAL_CLASS_H
#define   VEX_OPTICAL_CLASS_H
 
/*-----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
 
namespace vex {
  class optical : public device {
    private:
      int32_t   _led_intensity;
      int32_t   _prox_threshold;
      int32_t   _last_hue;
      
      enum class tEventType {
        EVENT_OBJECT_FOUND =  0,
        EVENT_OBJECT_LOST  =  1,
        EVENT_GESTURE_UP   =  2,
        EVENT_GESTURE_DOWN  =  3,
        EVENT_GESTURE_LEFT  =  4,
        EVENT_GESTURE_RIGHT =  5,
      };
            
    public:
      optical( int32_t index, bool enableGesture = false );  
      ~optical();
    
      bool            installed();
      int32_t         value();
 
      double          hue();
 
      double          brightness( bool bRaw = false );
 
      //vex::color      color();
 
      vex::colorType  colorname();
 
      bool            isNearObject();
 
      void            objectDetected( void (* callback)(void) );
 
      void            objectLost( void (* callback)(void) );
 
      int32_t         objectDetectThreshold( int32_t value = 0 );
      
      void            gestureUp( void (* callback)(void) );
 
      void            gestureDown( void (* callback)(void) );
 
      void            gestureLeft( void (* callback)(void) );
 
      void            gestureRight( void (* callback)(void) );
 
      void            setLight( ledState state );
 
      void            setLightPower( int32_t intensity, percentUnits units = percentUnits::pct );
 
      class gesture {
          friend  vex::optical;
          
          private:
            uint8_t   _udata;
            uint8_t   _ddata;
            uint8_t   _ldata;
            uint8_t   _rdata;
            uint32_t  _count;
            gestureType _type;
            
          public:
            gesture();
            ~gesture();
 
            const uint8_t & udata = _udata;
            const uint8_t & ddata = _ddata;
            const uint8_t & ldata = _ldata;
            const uint8_t & rdata = _rdata;
            const uint32_t & count = _count;
            
            const gestureType & type = _type;            
      };
      
      void            gestureEnable(void);
 
      void            gestureDisable(void);
 
      optical::gesture getGesture();        
 
      class rgbc {
          friend  vex::optical;
 
          public:
            double  red;
            double  green;
            double  blue;
            double  clear;
 
          rgbc() : red(0), green(0), blue(0), clear(0) {}
          ~rgbc() {}
      };
      
      optical::rgbc   getRgb( bool bRawColor = true );  
      
      void            integrationTime( double timeMs );
 
      double          integrationTime();
      
  };
};
 
#endif // VEX_OPTICAL_CLASS_H