HiTechnicColorSensor.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __HiTechnicColorSensor_h__
#define __HiTechnicColorSensor_h__

#include "SensorBase.h"
#include "LiveWindow/LiveWindowSendable.h"

class I2C;

class HiTechnicColorSensor : public SensorBase
{
public:
        enum tColorMode {kActive = 0, kPassive = 1, kRaw = 3};
        typedef struct{
                uint16_t red;
                uint16_t blue;
                uint16_t green;
        }RGB;
        explicit HiTechnicColorSensor(uint8_t moduleNumber);
        virtual ~HiTechnicColorSensor();
        uint8_t GetColor();
        uint8_t GetRed();
        uint8_t GetGreen();
        uint8_t GetBlue();
        RGB GetRGB();
        uint16_t GetRawRed();
        uint16_t GetRawGreen();
        uint16_t GetRawBlue();
        RGB GetRawRGB();
        void SetMode(tColorMode mode);
        
        
        //LiveWindowSendable interface
        virtual std::string GetType();
        virtual void InitTable(ITable *subtable);
        virtual void UpdateTable();
        virtual ITable* GetTable();
        virtual void StartLiveWindowMode();
        virtual void StopLiveWindowMode(); 

private:
        static const uint8_t kAddress = 0x02;
        static const uint8_t kManufacturerBaseRegister = 0x08;
        static const uint8_t kManufacturerSize = 0x08;
        static const uint8_t kSensorTypeBaseRegister = 0x10;
        static const uint8_t kSensorTypeSize = 0x08;
        static const uint8_t kModeRegister = 0x41;
        static const uint8_t kColorRegister = 0x42;
        static const uint8_t kRedRegister = 0x43;
        static const uint8_t kGreenRegister = 0x44;
        static const uint8_t kBlueRegister = 0x45;
        static const uint8_t kRawRedRegister = 0x43;
        static const uint8_t kRawGreenRegister = 0x45;
        static const uint8_t kRawBlueRegister = 0x47;
        
        int m_mode;
        I2C* m_i2c;
        ITable *m_table;
};

#endif