VEX Optical Sensor C++ API module

Contents

Files

file optical.hpp

Classes

class pros::v5::Optical

Functions

Optical(const std::uint8_t port)
Creates an Optical Sensor object for the given port.
Optical(const Device& device)
static std::vector<Optical> get_all_devices()
Gets all optical sensors.
double get_hue() virtual
Get the detected color hue.
double get_saturation() virtual
Get the detected color saturation.
double get_brightness() virtual
Get the detected color brightness.
std::int32_t get_proximity() virtual
Get the detected proximity value.
std::int32_t set_led_pwm(uint8_t value) virtual
Set the pwm value of the White LED on the sensor.
std::int32_t get_led_pwm() virtual
Get the pwm value of the White LED on the sensor.
pros::c::optical_rgb_s_t get_rgb() virtual
Get the processed RGBC data from the sensor.
pros::c::optical_raw_s_t get_raw() virtual
Get the raw un-processed RGBC data from the sensor.
pros::c::optical_direction_e_t get_gesture() virtual
Get the most recent gesture data from the sensor.
pros::c::optical_gesture_s_t get_gesture_raw() virtual
Get the most recent raw gesture data from the sensor.
std::int32_t enable_gesture() virtual
Enable gesture detection on the sensor.
std::int32_t disable_gesture() virtual
Disable gesture detection on the sensor.

Function documentation

Optical(const std::uint8_t port)
#include <pros/optical.hpp>

Creates an Optical Sensor object for the given port.

Parameters
port The V5 port number from 1-21

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example: pros::Optical optical(1);

Optical(const Device& device)
#include <pros/optical.hpp>

static std::vector<Optical> get_all_devices()
#include <pros/optical.hpp>

Gets all optical sensors.

Returns A vector of Optical sensor objects.

Example

void opcontrol() {
  std::vector<Optical> optical_all = pros::Optical::get_all_devices();  // All optical sensors that are connected
}

double get_hue() virtual
#include <pros/optical.hpp>

Get the detected color hue.

Returns hue value if the operation was successful or PROS_ERR_F if the operation failed, setting errno.

This is not available if gestures are being detected. Hue has a range of 0 to 359.999

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        std::cout << "Hue: " << optical.get_hue() << std::endl;
}

double get_saturation() virtual
#include <pros/optical.hpp>

Get the detected color saturation.

Returns saturation value if the operation was successful or PROS_ERR_F if the operation failed, setting errno.

This is not available if gestures are being detected. Saturation has a range of 0 to 1.0

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        std::cout << "Saturation: " << optical.get_saturation() << std::endl;
}

double get_brightness() virtual
#include <pros/optical.hpp>

Get the detected color brightness.

Returns brightness value if the operation was successful or PROS_ERR_F if the operation failed, setting errno.

This is not available if gestures are being detected. Brightness has a range of 0 to 1.0

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        std::cout << "Brightness: " << optical.get_brightness() << std::endl;
}

std::int32_t get_proximity() virtual
#include <pros/optical.hpp>

Get the detected proximity value.

Returns Proximity value if the operation was successful or PROS_ERR if the operation failed, setting errno.

This is not available if gestures are being detected. proximity has a range of 0 to 255.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        std::cout << "Proximity: " << optical.get_proximity() << std::endl;
}

std::int32_t set_led_pwm(uint8_t value) virtual
#include <pros/optical.hpp>

Set the pwm value of the White LED on the sensor.

Returns The Error code encountered or PROS_SUCCESS.

value that ranges from 0 to 100

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void initialize() {
        pros::Optical optical(1);
        optical.set_led_pwm(100);
}

std::int32_t get_led_pwm() virtual
#include <pros/optical.hpp>

Get the pwm value of the White LED on the sensor.

Returns LED pwm value if the operation was successful or PROS_ERR if the operation failed, setting errno.

value that ranges from 0 to 100

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
    optical.set_led_pwm(100);
        std::cout << "LED PWM: " << optical.get_led_pwm() << std::endl;
}

pros::c::optical_rgb_s_t get_rgb() virtual
#include <pros/optical.hpp>

Get the processed RGBC data from the sensor.

Returns rgb value if the operation was successful or an optical_rgb_s_t with all fields set to PROS_ERR if the operation failed, setting errno.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        pros::c::optical_rgb_s_t rgb = optical.get_rgb();
        while(1) {
            std::cout << "Red: " << rgb.red << std::endl;
            std::cout << "Green: " << rgb.green << std::endl;
            std::cout << "Blue: " << rgb.blue << std::endl;
            std::cout << "Brightness: " << rgb.brightness << std::endl;
            pros::delay(20);
        }
}

pros::c::optical_raw_s_t get_raw() virtual
#include <pros/optical.hpp>

Get the raw un-processed RGBC data from the sensor.

Returns raw rgb value if the operation was successful or an optical_raw_s_t with all fields set to PROS_ERR if the operation failed, setting errno.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        pros::c::optical_raw_s_t raw = optical.get_raw();
        while (1) {
            std::cout << "Red: " << raw.red << std::endl;
            std::cout << "Green: " << raw.green << std::endl;
            std::cout << "Blue: " << raw.blue << std::endl;
            std::cout << "Clear: " << raw.clear << std::endl;
            pros::delay(20);
        }
}

pros::c::optical_direction_e_t get_gesture() virtual
#include <pros/optical.hpp>

Get the most recent gesture data from the sensor.

Returns gesture value if the operation was successful or PROS_ERR if the operation failed, setting errno.

Gestures will be cleared after 500mS

0 = no gesture, 1 = up (towards cable), 2 = down, 3 = right, 4 = left

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
        while(1) {
            std::cout << "Gesture: " << optical.get_gesture() << std::endl;
            pros::delay(20);
        }
}

pros::c::optical_gesture_s_t get_gesture_raw() virtual
#include <pros/optical.hpp>

Get the most recent raw gesture data from the sensor.

Returns gesture value if the operation was successful or an optical_gesture_s_t with all fields set to PROS_ERR if the operation failed, setting errno.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
    optical.enable_gesture();
        while(1) {
            pros::c::optical_gesture_s_t gesture = optical.get_gesture_raw();
            std::cout << "Gesture raw data: " << std::endl;
            std::cout << "Up data: " << gesture.udata << std::endl;
            std::cout << "Down data: " << gesture.ddata << std::endl;
            std::cout << "Left data: " << gesture.ldata << std::endl;
            std::cout << "Right data: " << gesture.rdata << std::endl;
            std::cout << "Type: " << gesture.type << std::endl;
            std::cout << "Count: " << gesture.count << std::endl;
            std::cout << "Time: " << gesture.time << std::endl;
            pros::delay(20);
        }
}

std::int32_t enable_gesture() virtual
#include <pros/optical.hpp>

Enable gesture detection on the sensor.

Returns 1 if the operation is successful or PROS_ERR if the operation failed, setting errno.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
    optical.enable_gesture();
        while(1) {
            pros::c::optical_gesture_s_t gesture = optical.get_gesture_raw();
            std::cout << "Gesture raw data: " << std::endl;
            std::cout << "Up data: " << gesture.udata << std::endl;
            std::cout << "Down data: " << gesture.ddata << std::endl;
            std::cout << "Left data: " << gesture.ldata << std::endl;
            std::cout << "Right data: " << gesture.rdata << std::endl;
            std::cout << "Type: " << gesture.type << std::endl;
            std::cout << "Count: " << gesture.count << std::endl;
            std::cout << "Time: " << gesture.time << std::endl;
            pros::delay(20);
        }
}

std::int32_t disable_gesture() virtual
#include <pros/optical.hpp>

Disable gesture detection on the sensor.

Returns 1 if the operation is successful or PROS_ERR if the operation failed, setting errno.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an Optical Sensor

Example:

void opcontrol() {
        pros::Optical optical(1);
    optical.enable_gesture();
        while(1) {
            if(optical.get_gesture() != 0) {
                std::cout << "Gesture detected!"<< std::endl;
                optical.disable_gesture();
            }
            pros::delay(20);
        }
}