Added TCS34725
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Tyler Wilcox
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37111e1233
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ee39a623ce
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package com.fairportrobotics.frc.poe.sensors.colorsensors;
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import edu.wpi.first.wpilibj.I2C;
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/**
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*
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*/
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public class TCS34725 {
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/** */
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class TCS34725_RGB {
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private int r, g, b;
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public TCS34725_RGB(int r, int g, int b) {
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this.r = r;
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this.g = g;
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this.b = b;
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}
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public int getR() {
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return this.r;
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}
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public int getG() {
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return this.g;
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}
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public int getB() {
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return this.b;
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}
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}
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/**
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* An Enum reprenting the GAIN values for the TCS34725.
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*/
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public enum TCS34721_GAIN {
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/** No gain */
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TCS34725_GAIN_1X(0x00),
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/** 4x gain */
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TCS34725_GAIN_4X(0x01),
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/** 16x gain */
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TCS34725_GAIN_16X(0x02),
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/** 60x gain */
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TCS34725_GAIN_60X(0x03);
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public final int value;
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private TCS34721_GAIN(int i) {
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this.value = i;
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};
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};
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/** I2C address **/
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public static int TCS34725_ADDRESS = (0x29);
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/** Command bit **/
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public static int TCS34725_COMMAND_BIT = (0x80);
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/** Interrupt Enable register */
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public static int TCS34725_ENABLE = (0x00);
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/** RGBC Interrupt Enable */
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public static int TCS34725_ENABLE_AIEN = (0x10);
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/** Wait Enable - Writing 1 activates the wait timer */
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public static int TCS34725_ENABLE_WEN = (0x08);
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/** RGBC Enable - Writing 1 actives the ADC, 0 disables it */
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public static int TCS34725_ENABLE_AEN = (0x02);
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/** Power on - Writing 1 activates the internal oscillator, 0 disables it */
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public static int TCS34725_ENABLE_PON = (0x01);
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/** Integration time */
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public static int TCS34725_ATIME = (0x01);
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/** Wait time (if TCS34725_ENABLE_WEN is asserted) */
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public static int TCS34725_WTIME = (0x03);
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/** WLONG0 = 2.4ms WLONG1 = 0.029s */
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public static int TCS34725_WTIME_2_4MS = (0xFF);
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/** WLONG0 = 204ms WLONG1 = 2.45s */
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public static int TCS34725_WTIME_204MS = (0xAB);
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/** WLONG0 = 614ms WLONG1 = 7.4s */
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public static int TCS34725_WTIME_614MS = (0x00);
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/** Clear channel lower interrupt threshold (lower byte) */
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public static int TCS34725_AILTL = (0x04);
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/** Clear channel lower interrupt threshold (higher byte) */
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public static int TCS34725_AILTH = (0x05);
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/** Clear channel upper interrupt threshold (lower byte) */
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public static int TCS34725_AIHTL = (0x06);
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/** Clear channel upper interrupt threshold (higher byte) */
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public static int TCS34725_AIHTH = (0x07);
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/**
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* Persistence register - basic SW filtering mechanism for \
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* interrupts
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*/
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public static int TCS34725_PERS = (0x0C);
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/** Every RGBC cycle generates an interrupt */
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public static int TCS34725_PERS_NONE = (0b0000);
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/**
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* 1 clean channel value outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_1_CYCLE = (0b0001);
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/**
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* 2 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_2_CYCLE = (0b0010);
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/**
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* 3 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_3_CYCLE = (0b0011);
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/**
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* 5 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_5_CYCLE = (0b0100);
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/**
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* 10 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_10_CYCLE = (0b0101);
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/**
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* 15 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_15_CYCLE = (0b0110);
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/**
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* 20 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_20_CYCLE = (0b0111);
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/**
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* 25 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_25_CYCLE = (0b1000);
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/**
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* 30 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_30_CYCLE = (0b1001);
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/**
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* 35 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_35_CYCLE = (0b1010);
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/**
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* 40 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_40_CYCLE = (0b1011);
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/**
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* 45 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_45_CYCLE = (0b1100);
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/**
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* 50 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_50_CYCLE = (0b1101);
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/**
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* 55 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_55_CYCLE = (0b1110);
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/**
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* 60 clean channel values outside threshold range generates an \
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* interrupt
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*/
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public static int TCS34725_PERS_60_CYCLE = (0b1111);
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/** Configuration **/
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public static int TCS34725_CONFIG = (0x0D);
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/**
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* Choose between short and long (12x) wait times via \
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* TCS34725_WTIME
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*/
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public static int TCS34725_CONFIG_WLONG = (0x02);
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/** Set the gain level for the sensor */
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public static int TCS34725_CONTROL = (0x0F);
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/** 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 */
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public static int TCS34725_ID = (0x12);
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/** Device status **/
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public static int TCS34725_STATUS = (0x13);
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/** RGBC Clean channel interrupt */
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public static int TCS34725_STATUS_AINT = (0x10);
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/**
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* Indicates that the RGBC channels have completed an integration \
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* cycle
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*/
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public static int TCS34725_STATUS_AVALID = (0x01);
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/** Clear channel data low byte */
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public static int TCS34725_CDATAL = (0x14);
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/** Clear channel data high byte */
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public static int TCS34725_CDATAH = (0x15);
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/** Red channel data low byte */
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public static int TCS34725_RDATAL = (0x16);
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/** Red channel data high byte */
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public static int TCS34725_RDATAH = (0x17);
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/** Green channel data low byte */
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public static int TCS34725_GDATAL = (0x18);
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/** Green channel data high byte */
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public static int TCS34725_GDATAH = (0x19);
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/** Blue channel data low byte */
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public static int TCS34725_BDATAL = (0x1A);
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/** Blue channel data high byte */
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public static int TCS34725_BDATAH = (0x1B);
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/* Integration time settings for TCS34725
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*
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* 60-Hz period: 16.67ms, 50-Hz period: 20ms
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* 100ms is evenly divisible by 50Hz periods and by 60Hz periods
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*/
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/** 2.4ms - 1 cycle - Max Count: 1024 */
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public static int TCS34725_INTEGRATIONTIME_2_4MS = (0xFF);
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/** 24.0ms - 10 cycles - Max Count: 10240 */
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public static int TCS34725_INTEGRATIONTIME_24MS = (0xF6);
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/** 50.4ms - 21 cycles - Max Count: 21504 */
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public static int TCS34725_INTEGRATIONTIME_50MS = (0xEB);
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/** 60.0ms - 25 cycles - Max Count: 25700 */
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public static int TCS34725_INTEGRATIONTIME_60MS = (0xE7);
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/** 100.8ms - 42 cycles - Max Count: 43008 */
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public static int TCS34725_INTEGRATIONTIME_101MS = (0xD6);
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/** 120.0ms - 50 cycles - Max Count: 51200 */
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public static int TCS34725_INTEGRATIONTIME_120MS = (0xCE);
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/** 153.6ms - 64 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_154MS = (0xC0);
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/** 180.0ms - 75 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_180MS = (0xB5);
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/** 199.2ms - 83 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_199MS = (0xAD);
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/** 240.0ms - 100 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_240MS = (0x9C);
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/** 300.0ms - 125 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_300MS = (0x83);
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/** 360.0ms - 150 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_360MS = (0x6A);
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/** 400.8ms - 167 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_401MS = (0x59);
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/** 420.0ms - 175 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_420MS = (0x51);
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/** 480.0ms - 200 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_480MS = (0x38);
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/** 499.2ms - 208 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_499MS = (0x30);
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/** 540.0ms - 225 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_540MS = (0x1F);
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/** 600.0ms - 250 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_600MS = (0x06);
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/** 614.4ms - 256 cycles - Max Count: 65535 */
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public static int TCS34725_INTEGRATIONTIME_614MS = (0x00);
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private I2C i2c_bus;
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private boolean isInitialized = false;
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private byte integrationTime = 0;
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private TCS34721_GAIN gain = TCS34721_GAIN.TCS34725_GAIN_1X;
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/**
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* Represents a TCS34725 Color sensor.
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*/
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public TCS34725() {
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i2c_bus = new I2C(I2C.Port.kMXP, TCS34725.TCS34725_ADDRESS);
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}
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/**
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* Read the RGB color detected by the sensor.
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*
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* @return TCS34725_RGB
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*/
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public TCS34725_RGB getRGB() {
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if (!isInitialized)
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init();
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byte[] buff = new byte[2];
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short r, g, b, c;
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i2c_bus.read(TCS34725_COMMAND_BIT | TCS34725_CDATAL, 2, buff);
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c = bytesToShort(buff);
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i2c_bus.read(TCS34725_COMMAND_BIT | TCS34725_RDATAL, 2, buff);
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r = bytesToShort(buff);
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i2c_bus.read(TCS34725_COMMAND_BIT | TCS34725_GDATAL, 2, buff);
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g = bytesToShort(buff);
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i2c_bus.read(TCS34725_COMMAND_BIT | TCS34725_BDATAL, 2, buff);
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b = bytesToShort(buff);
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TCS34725_RGB rgb;
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if (c == 0) {
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rgb = new TCS34725_RGB(0, 0, 0);
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return rgb;
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}
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rgb = new TCS34725_RGB(r / c * 255, g / c * 255, b / c * 255);
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return rgb;
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}
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/**
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* Initializes I2C and configures the sensor
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*
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* @param addr
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* i2c address
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*
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* @param *theWire
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* The Wire object
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*
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* @return True if initialization was successful, otherwise false.
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*/
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private boolean init() {
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// Read from device to see if it's connected
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byte[] buff = new byte[1];
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i2c_bus.read(TCS34725_COMMAND_BIT | 0x12, 1, buff);
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if ((buff[0] != 0x4d) && (buff[0] != 0x44) && (buff[0] != 0x10)) {
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return false;
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}
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isInitialized = true;
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// setGains
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setIntegrationTime(integrationTime);
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setGain(gain);
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enable();
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return true;
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}
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/**
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* Enables the device
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*/
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public void enable() {
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i2c_bus.write(TCS34725_COMMAND_BIT | TCS34725_ENABLE, TCS34725_ENABLE_PON);
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i2c_bus.write(TCS34725_COMMAND_BIT | TCS34725_ENABLE, TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN);
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}
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/**
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* Disables the device (putting it in lower power sleep mode)
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*/
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public void disable() {
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byte[] buff = new byte[1];
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i2c_bus.read(TCS34725_COMMAND_BIT | TCS34725_ENABLE, 1, buff);
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i2c_bus.write(TCS34725_COMMAND_BIT | TCS34725_ENABLE, buff[0] & ~(TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN));
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}
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/**
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*
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* Sets the integration time for the TC34725
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*
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* @param time
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* Integration Time
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*/
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public void setIntegrationTime(byte time) {
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i2c_bus.write(TCS34725_COMMAND_BIT | TCS34725_ATIME, time);
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}
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/**
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*
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* Adjusts the gain on the TCS34725
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*
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* @param gain
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* Gain (sensitivity to light)
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*/
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public void setGain(TCS34721_GAIN gain) {
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i2c_bus.write(TCS34725_COMMAND_BIT | TCS34725_CONTROL, gain.value);
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}
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private short bytesToShort(byte[] bytes) {
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if (bytes.length != 2)
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return 0;
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return (short) (bytes[0] << 8 | bytes[1] & 0xFF);
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}
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}
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