REV Color V3 Documentation

REV Color V3 API

This is a python wrapper around the REV Robotics Color Sensor V3. The RobotPy project is not associated with or endorsed by REV Robotics.

rev.color Package

rev.color.CIEColor(self, X, Y, Z)
rev.color.ColorMatch(self) REV Robotics Color Sensor V3.
rev.color.ColorSensorV3(self, port) REV Robotics Color Sensor V3.

CIEColor

class rev.color.CIEColor(X: float, Y: float, Z: float) → None

Bases: pybind11_builtins.pybind11_object

getX() → float

Get the X component of the color

Returns:CIE X
getY() → float

Get the Y component of the color

Returns:CIE Y
getYx() → float

Get the x calculated coordinate of the CIE 19313 color space

https://en.wikipedia.org/wiki/CIE_1931_color_space

Returns:CIE Yx
getYy() → float

Get the y calculated coordinate of the CIE 19313 color space

https://en.wikipedia.org/wiki/CIE_1931_color_space

Returns:CIE Yy
getZ() → float

Get the Z component of the color

Returns:CIE Z

ColorMatch

class rev.color.ColorMatch() → None

Bases: pybind11_builtins.pybind11_object

REV Robotics Color Sensor V3.

This class allows access to a REV Robotics color sensor V3 on an I2C bus.

addColorMatch(color: wpilib._wpilib.Color) → None

Add color to match object

Parameters:color – color to add to matching
matchClosestColor(colorToMatch: wpilib._wpilib.Color, confidence: float) → wpilib._wpilib.Color

MatchColor uses euclidean distance to compare a given normalized RGB vector against stored values

Parameters:
  • colorToMatch – color to compare against stored colors
  • confidence – The confidence value for this match, this is simply 1 - euclidean distance of the two color vectors
Returns:

Closest matching color
matchColor(*args, **kwargs)

Overloaded function.

  1. matchColor(self: rev.color._rev_color.ColorMatch, colorToMatch: wpilib._wpilib.Color) -> Optional[wpilib._wpilib.Color]

MatchColor uses euclidean distance to compare a given normalized RGB vector against stored values

Parameters:colorToMatch – color to compare against stored colors
Returns:Matched color if detected
  1. matchColor(self: rev.color._rev_color.ColorMatch, colorToMatch: wpilib._wpilib.Color, confidence: float) -> Optional[wpilib._wpilib.Color]

MatchColor uses euclidean distance to compare a given normalized RGB vector against stored values

Parameters:
  • colorToMatch – color to compare against stored colors
  • confidence – The confidence value for this match, this is simply 1 - euclidean distance of the two color vectors
Returns:

Matched color if detected
setConfidenceThreshold(confidence: float) → None

Set the confidence interval for determining color. Defaults to 0.95

Parameters:confidence – A value between 0 and 1

ColorSensorV3

class rev.color.ColorSensorV3(port: wpilib._wpilib.I2C.Port) → None

Bases: pybind11_builtins.pybind11_object

REV Robotics Color Sensor V3.

This class allows access to a REV Robotics color sensor V3 on an I2C bus.

Constructs a ColorSensorV3.

Note that the REV Color Sensor is really two devices in one package: a color sensor providing red, green, blue and IR values, and a proximity sensor.

Parameters:port – The I2C port the color sensor is attached to
class ColorMeasurementRate(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

k25ms

k50ms

k100ms

k200ms

k500ms

k1000ms

k2000ms

k1000ms = ColorMeasurementRate.k1000ms
k100ms = ColorMeasurementRate.k100ms
k2000ms = ColorMeasurementRate.k2000ms
k200ms = ColorMeasurementRate.k200ms
k25ms = ColorMeasurementRate.k25ms
k500ms = ColorMeasurementRate.k500ms
k50ms = ColorMeasurementRate.k50ms
name

(self: handle) -> str

class ColorResolution(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

k20bit

k19bit

k18bit

k17bit

k16bit

k13bit

k13bit = ColorResolution.k13bit
k16bit = ColorResolution.k16bit
k17bit = ColorResolution.k17bit
k18bit = ColorResolution.k18bit
k19bit = ColorResolution.k19bit
k20bit = ColorResolution.k20bit
name

(self: handle) -> str

class GainFactor(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

k1x

k3x

k6x

k9x

k18x

k18x = GainFactor.k18x
k1x = GainFactor.k1x
k3x = GainFactor.k3x
k6x = GainFactor.k6x
k9x = GainFactor.k9x
name

(self: handle) -> str

class LEDCurrent(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

kPulse2mA

kPulse5mA

kPulse10mA

kPulse25mA

kPulse50mA

kPulse75mA

kPulse100mA

kPulse125mA

kPulse100mA = LEDCurrent.kPulse100mA
kPulse10mA = LEDCurrent.kPulse10mA
kPulse125mA = LEDCurrent.kPulse125mA
kPulse25mA = LEDCurrent.kPulse25mA
kPulse2mA = LEDCurrent.kPulse2mA
kPulse50mA = LEDCurrent.kPulse50mA
kPulse5mA = LEDCurrent.kPulse5mA
kPulse75mA = LEDCurrent.kPulse75mA
name

(self: handle) -> str

class LEDPulseFrequency(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

k60kHz

k70kHz

k80kHz

k90kHz

k100kHz

k100kHz = LEDPulseFrequency.k100kHz
k60kHz = LEDPulseFrequency.k60kHz
k70kHz = LEDPulseFrequency.k70kHz
k80kHz = LEDPulseFrequency.k80kHz
k90kHz = LEDPulseFrequency.k90kHz
name

(self: handle) -> str

class ProximityMeasurementRate(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

k6ms

k12ms

k25ms

k50ms

k100ms

k200ms

k400ms

k100ms = ProximityMeasurementRate.k100ms
k12ms = ProximityMeasurementRate.k12ms
k200ms = ProximityMeasurementRate.k200ms
k25ms = ProximityMeasurementRate.k25ms
k400ms = ProximityMeasurementRate.k400ms
k50ms = ProximityMeasurementRate.k50ms
k6ms = ProximityMeasurementRate.k6ms
name

(self: handle) -> str

class ProximityResolution(arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Members:

k8bit

k9bit

k10bit

k11bit

k10bit = ProximityResolution.k10bit
k11bit = ProximityResolution.k11bit
k8bit = ProximityResolution.k8bit
k9bit = ProximityResolution.k9bit
name

(self: handle) -> str

class RawColor(r: int, g: int, b: int, _ir: int) → None

Bases: pybind11_builtins.pybind11_object

blue
green
ir
red
configureColorSensor(res: rev.color._rev_color.ColorSensorV3.ColorResolution, rate: rev.color._rev_color.ColorSensorV3.ColorMeasurementRate) → None

Configure the color sensor.

These settings are only needed for advanced users, the defaults will work fine for most teams. Consult the APDS-9151 for more information on these configuration settings and how they will affect color sensor measurements.

Parameters:
  • res – Bit resolution output by the respective light sensor ADCs
  • rate – Measurement rate of the light sensor
configureProximitySensor(res: rev.color._rev_color.ColorSensorV3.ProximityResolution, rate: rev.color._rev_color.ColorSensorV3.ProximityMeasurementRate) → None

Configure the proximity sensor.

These settings are only needed for advanced users, the defaults will work fine for most teams. Consult the APDS-9151 for more information on these configuration settings and how they will affect proximity sensor measurements.

Parameters:
  • res – Bit resolution output by the proximity sensor ADC.
  • rate – Measurement rate of the proximity sensor
configureProximitySensorLED(freq: rev.color._rev_color.ColorSensorV3.LEDPulseFrequency, current: rev.color._rev_color.ColorSensorV3.LEDCurrent, pulses: int) → None

Configure the the IR LED used by the proximity sensor.

These settings are only needed for advanced users, the defaults will work fine for most teams. Consult the APDS-9151 for more information on these configuration settings and how they will affect proximity sensor measurements.

Parameters:
  • freq – The pulse modulation frequency for the proximity sensor LED
  • curr – The pulse current for the proximity sensor LED
  • pulses – The number of pulses per measurement of the proximity sensor LED
getCIEColor() → rev.color._rev_color.CIEColor

Get the color converted to CIE XYZ color space using factory calibrated constants.

https://en.wikipedia.org/wiki/CIE_1931_color_space

Returns:CIEColor value from sensor
getColor() → wpilib._wpilib.Color

Get the normalized RGB color from the sensor (normalized based on total R + G + B)

Returns:frc::Color class with normalized sRGB values
getIR() → float

Get the normalzied IR value from the sensor. Works best when within 2 inches and perpendicular to surface of interest.

Returns:Color class with normalized values
getProximity() → int

Get the raw proximity value from the sensor ADC. This value is largest when an object is close to the sensor and smallest when far away.

Returns:Proximity measurement value, ranging from 0 to 2047 in default configuration
getRawColor() → rev.color._rev_color.ColorSensorV3.RawColor

Get the raw color value from the sensor.

Returns:Raw color values from sensopr
hasReset() → bool

Indicates if the device reset. Based on the power on status flag in the status register. Per the datasheet:

Part went through a power-up event, either because the part was turned on or because there was power supply voltage disturbance (default at first register read).

This flag is self clearing

Returns:bool indicating if the device was reset
setGain(gain: rev.color._rev_color.ColorSensorV3.GainFactor) → None

Set the gain factor applied to color ADC measurements.

By default, the gain is set to 3x.

Parameters:gain – Gain factor applied to color ADC measurements measurements

Indices and tables