ColorSensorV3

class rev.ColorSensorV3(port: wpilib._wpilib.I2C.Port)

Bases: 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(value: int)

Bases: pybind11_object

Members:

k25ms

k50ms

k100ms

k200ms

k500ms

k1000ms

k2000ms

k1000ms = <ColorMeasurementRate.k1000ms: 5>

k100ms = <ColorMeasurementRate.k100ms: 2>

k2000ms = <ColorMeasurementRate.k2000ms: 7>

k200ms = <ColorMeasurementRate.k200ms: 3>

k25ms = <ColorMeasurementRate.k25ms: 0>

k500ms = <ColorMeasurementRate.k500ms: 4>

k50ms = <ColorMeasurementRate.k50ms: 1>

property name

property value

class ColorResolution(value: int)

Bases: pybind11_object

Members:

k20bit

k19bit

k18bit

k17bit

k16bit

k13bit

k13bit = <ColorResolution.k13bit: 80>

k16bit = <ColorResolution.k16bit: 64>

k17bit = <ColorResolution.k17bit: 48>

k18bit = <ColorResolution.k18bit: 32>

k19bit = <ColorResolution.k19bit: 16>

k20bit = <ColorResolution.k20bit: 0>

property name

property value

class GainFactor(value: int)

Bases: pybind11_object

Members:

k1x

k3x

k6x

k9x

k18x

k18x = <GainFactor.k18x: 4>

k1x = <GainFactor.k1x: 0>

k3x = <GainFactor.k3x: 1>

k6x = <GainFactor.k6x: 2>

k9x = <GainFactor.k9x: 3>

property name

property value

class LEDCurrent(value: int)

Bases: pybind11_object

Members:

kPulse2mA

kPulse5mA

kPulse10mA

kPulse25mA

kPulse50mA

kPulse75mA

kPulse100mA

kPulse125mA

kPulse100mA = <LEDCurrent.kPulse100mA: 6>

kPulse10mA = <LEDCurrent.kPulse10mA: 2>

kPulse125mA = <LEDCurrent.kPulse125mA: 7>

kPulse25mA = <LEDCurrent.kPulse25mA: 3>

kPulse2mA = <LEDCurrent.kPulse2mA: 0>

kPulse50mA = <LEDCurrent.kPulse50mA: 4>

kPulse5mA = <LEDCurrent.kPulse5mA: 1>

kPulse75mA = <LEDCurrent.kPulse75mA: 5>

property name

property value

class LEDPulseFrequency(value: int)

Bases: pybind11_object

Members:

k60kHz

k70kHz

k80kHz

k90kHz

k100kHz

k100kHz = <LEDPulseFrequency.k100kHz: 56>

k60kHz = <LEDPulseFrequency.k60kHz: 24>

k70kHz = <LEDPulseFrequency.k70kHz: 64>

k80kHz = <LEDPulseFrequency.k80kHz: 40>

k90kHz = <LEDPulseFrequency.k90kHz: 48>

property name

property value

class ProximityMeasurementRate(value: int)

Bases: pybind11_object

Members:

k6ms

k12ms

k25ms

k50ms

k100ms

k200ms

k400ms

k100ms = <ProximityMeasurementRate.k100ms: 5>

k12ms = <ProximityMeasurementRate.k12ms: 2>

k200ms = <ProximityMeasurementRate.k200ms: 6>

k25ms = <ProximityMeasurementRate.k25ms: 3>

k400ms = <ProximityMeasurementRate.k400ms: 7>

k50ms = <ProximityMeasurementRate.k50ms: 4>

k6ms = <ProximityMeasurementRate.k6ms: 1>

property name

property value

class ProximityResolution(value: int)

Bases: pybind11_object

Members:

k8bit

k9bit

k10bit

k11bit

k10bit = <ProximityResolution.k10bit: 16>

k11bit = <ProximityResolution.k11bit: 24>

k8bit = <ProximityResolution.k8bit: 0>

k9bit = <ProximityResolution.k9bit: 8>

property name

property value

class RawColor(r: int, g: int, b: int, _ir: int)

Bases: pybind11_object

property blue

property green

property ir

property red

configureColorSensor(res: rev._rev.ColorSensorV3.ColorResolution, rate: rev._rev.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._rev.ColorSensorV3.ProximityResolution, rate: rev._rev.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._rev.ColorSensorV3.LEDPulseFrequency, current: rev._rev.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._rev.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._rev.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:

true if the device was reset

isConnected() → bool

Indicates if the device can currently be communicated with.

Returns:

true if the device is currently connected and responsive

setGain(gain: rev._rev.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