colour.h

00001 /* University of York Robotics Laboratory PsiSwarm Library: Colour Sensors Header File
00002  *
00003  * Copyright 2016 University of York
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
00007  * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
00008  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00009  * See the License for the specific language governing permissions and limitations under the License.
00010  *
00011  * File: colour.h
00012  *
00013  * (C) Dept. Electronics & Computer Science, University of York
00014  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
00015  *
00016  * PsiSwarm Library Version: 0.8
00017  *
00018  * October 2016
00019  *
00020  *
00021  */
00022 
00023 
00024 #ifndef COLOUR_H
00025 #define COLOUR_H
00026 
00027 /**
00028  *  The Colour class contains the functions for reading the base-mounted and top-mounted I2C colour sensors (optional).
00029 */
00030 class Colour
00031 {
00032 public:
00033     /** Set the gain of the base colour sensor
00034     *
00035     * @param gain The gain value for the sensor
00036     */
00037     void set_base_colour_sensor_gain(char gain);
00038 
00039     /** Set the integration time constant for the base colour sensor
00040     *
00041     * @param gain The gain value for the sensor
00042     */
00043     void set_base_colour_sensor_integration_time(char int_time);
00044 
00045     /** Enable the base colour sensor
00046     */
00047     void enable_base_colour_sensor(void);
00048 
00049     /** Read the values from the base colour sensor
00050     *
00051     * @param Pointer to 3 x int array for r-g-b values
00052     */
00053     void read_base_colour_sensor_values(int * store_array);
00054     char IF_check_base_colour_sensor(void);
00055 
00056 };
00057 #endif