Inheritance diagram for Mrm_col_can:

Public Member Functions
	Mrm_col_can (Robot *robot=NULL, uint8_t maxNumberOfBoards=4)

void	add (char deviceName=(char )"")

uint16_t	colorBlue (uint8_t deviceNumber)

uint16_t	colorGreen (uint8_t deviceNumber)

uint16_t	colorOrange (uint8_t deviceNumber)

uint16_t	colorRed (uint8_t deviceNumber)

uint16_t	colorViolet (uint8_t deviceNumber)

uint16_t	colorYellow (uint8_t deviceNumber)

void	gain (uint8_t deviceNumber=0, uint8_t gainValue=0)

uint8_t	hue (uint8_t deviceNumber)

void	illumination (uint8_t deviceNumber=0, uint8_t current=0)

void	integrationTime (uint8_t deviceNumber=0, uint8_t value=18)

bool	messageDecode (uint32_t canId, uint8_t data[8])

void	patternErase (uint8_t deviceNumber=0xFF)

void	patternPrint ()

uint8_t	patternRecognizedBy6Colors (uint8_t deviceNumber)

uint8_t	patternRecognizedByHSV (uint8_t deviceNumber)

void	patternRecord (uint8_t patternNumber=0, uint8_t deviceNumber=0)

void	patternsRecord ()

uint16_t	reading (uint8_t color=0, uint8_t sensorNumber=0)

uint8_t	saturation (uint8_t deviceNumber)

void	readingsPrint ()

void	switchToHSV (uint8_t deviceNumber=0xFF)

void	switchTo6Colors (uint8_t deviceNumber=0xFF)

void	test (bool hsvSelect)

uint8_t	value (uint8_t deviceNumber)

Public Member Functions inherited from SensorBoard
	SensorBoard (Robot robot, uint8_t devicesOnABoard, const char boardName, uint8_t maxNumberOfBoards, BoardId id)

void	continuousReadingCalculatedDataStart (uint8_t deviceNumber=0xFF)

Public Member Functions inherited from Board
	Board (Robot robot, uint8_t maxNumberOfBoards, uint8_t devicesOnABoard, const char boardName, BoardType boardType, BoardId id)

void	add (char *deviceName, uint16_t canIn, uint16_t canOut)

bool	alive (uint8_t deviceNumber=0, bool checkAgainIfDead=false, bool errorIfNotAfterCheckingAgain=false)

uint8_t	count ()

void	aliveSet (bool yesOrNo, uint8_t deviceNumber=0)

BoardType	boardType ()

uint8_t	deadOrAliveCount ()

uint8_t	devicesOnASingleBoard ()

uint8_t	devicesMaximumNumberInAllBoards ()

uint8_t	devicesScan (bool verbose=true, uint16_t mask=0xFFFF)

uint8_t	errorCodeLast ()

uint8_t	errorWasInDeviceNumber ()

void	firmwareRequest (uint8_t deviceNumber=0xFF)

uint16_t	fps (uint8_t deviceNumber=0)

void	fpsDisplay ()

void	fpsRequest (uint8_t deviceNumber=0xFF)

BoardId	id ()

void	idChange (uint16_t newDeviceNumber, uint8_t deviceNumber=0)

void	info (uint8_t deviceNumber=0xFF)

bool	isForMe (uint32_t canIdOut, uint8_t deviceNumber)

bool	isFromMe (uint32_t canIdOut, uint8_t deviceNumber)

uint32_t	lastMessageMs (uint8_t deviceNumber=0)

bool	messagePrint (uint32_t msgId, uint8_t dlc, uint8_t *data, bool outbound)
	‍** Prints a frame More...

void	messageSend (uint8_t *data, uint8_t dlc, uint8_t deviceNumber=0)

char *	name (uint8_t deviceNumber)

char *	name ()

void	notificationRequest (uint8_t commandRequestingNotification, uint8_t deviceNumber)

void	oscillatorTest (uint8_t deviceNumber=0xFF)

void	reset (uint8_t deviceNumber=0xFF)

void	start (uint8_t deviceNumber=0xFF, uint8_t measuringModeNow=0, uint16_t refreshMs=0)

void	swap (uint8_t deviceNumber1, uint8_t deviceNumber2)

void	stop (uint8_t deviceNumber=0xFF)

virtual void	test (uint8_t deviceNumber=0xFF, uint16_t betweenTestsMs=0)

Additional Inherited Members
Protected Member Functions inherited from Board
bool	messageDecodeCommon (uint32_t canId, uint8_t data[8], uint8_t deviceNumber=0)

Protected Attributes inherited from Board
uint32_t	_alive

bool	_aliveReport = false

char	_boardsName [12]

BoardType	_boardType

uint8_t	canData [8]

uint8_t	devicesOnABoard

uint8_t	errorCode = 0

uint8_t	errorInDeviceNumber = 0

std::vector< uint16_t > *	fpsLast

BoardId	_id

std::vector< uint32_t > *	idIn

std::vector< uint32_t > *	idOut

std::vector< uint32_t > *	lastMessageReceivedMs

std::vector< uint32_t > *	_lastReadingMs

uint8_t	maximumNumberOfBoards

uint8_t	measuringMode = 0

uint8_t	measuringModeLimit = 0

uint8_t	_message [29]

std::vector< char[10]> *	_name

int	nextFree

Robot *	robotContainer

Constructor & Destructor Documentation

◆ Mrm_col_can()

Mrm_col_can::Mrm_col_can	(	Robot *	robot = `NULL`,
		uint8_t	maxNumberOfBoards = `4`
	)

Constructor

Parameters

robot	- robot containing this board
maxNumberOfBoards	- maximum number of boards

Member Function Documentation

◆ add()

void Mrm_col_can::add ( char * deviceName = (char*)"" )

Add a mrm-col-can board

Parameters

deviceName - device's name

Add a mrm-col-can sensor

Parameters

deviceName - device's name

◆ colorBlue()

uint16_t Mrm_col_can::colorBlue ( uint8_t deviceNumber )

Blue

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - color intensity

◆ colorGreen()

uint16_t Mrm_col_can::colorGreen ( uint8_t deviceNumber )

Green

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - color intensity

◆ colorOrange()

uint16_t Mrm_col_can::colorOrange ( uint8_t deviceNumber )

Orange

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - color intensity

◆ colorRed()

uint16_t Mrm_col_can::colorRed ( uint8_t deviceNumber )

Red

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - color intensity

◆ colorViolet()

uint16_t Mrm_col_can::colorViolet ( uint8_t deviceNumber )

Violet

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - color intensity

◆ colorYellow()

uint16_t Mrm_col_can::colorYellow ( uint8_t deviceNumber )

Yellow

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - color intensity

◆ gain()

void Mrm_col_can::gain	(	uint8_t	deviceNumber = `0`,
		uint8_t	gainValue = `0`
	)

Set gain

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all sensors.
gainValue	0, 1x (default) 1, 3.7x 2, 16x 3, 64x

◆ hue()

uint8_t Mrm_col_can::hue ( uint8_t deviceNumber )

Hue

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - Hue

◆ illumination()

void Mrm_col_can::illumination	(	uint8_t	deviceNumber = `0`,
		uint8_t	current = `0`
	)

Set illumination intensity

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all sensors.
current	- 0 - 3

◆ integrationTime()

void Mrm_col_can::integrationTime	(	uint8_t	deviceNumber = `0`,
		uint8_t	value = `18`
	)

Set integration time

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all sensors.
value	- integration time will be value x 2.8 ms but double that in case of mode 2 (usual). value is between 0 and 255. value 18 is approx 10 FPS

◆ messageDecode()

bool Mrm_col_can::messageDecode	(	uint32_t	canId,
		uint8_t	data[8]
	)

virtual

Read CAN Bus message into local variables

Parameters

canId	- CAN Bus id
data	- 8 bytes from CAN Bus message.

Read CAN Bus message into local variables

Parameters

data	- 8 bytes from CAN Bus message.

Reimplemented from SensorBoard.

◆ patternErase()

void Mrm_col_can::patternErase ( uint8_t deviceNumber = 0xFF )

Erase all patterns

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - in all sensors

Erase all patterns

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - in all sensors.

◆ patternPrint()

void Mrm_col_can::patternPrint ( )

Print HSV patterns

◆ patternRecognizedBy6Colors()

uint8_t Mrm_col_can::patternRecognizedBy6Colors ( uint8_t deviceNumber )

Choose a pattern closest to the current 6 colors

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. @raturn - patternNumber

◆ patternRecognizedByHSV()

uint8_t Mrm_col_can::patternRecognizedByHSV ( uint8_t deviceNumber )

Choose a pattern closest to the current HSV values

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
includeValue	- if true, HSV compared. If not, HS. @raturn - patternNumber

◆ patternRecord()

void Mrm_col_can::patternRecord	(	uint8_t	patternNumber = `0`,
		uint8_t	deviceNumber = `0`
	)

Record a HSV pattern

Parameters

patternNumber	- 0 - PATTERN_COUNT-1
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Record a HSV pattern

Parameters

patternNumber	- 0 - MRM_COL_CAN_PATTERN_COUNT-1
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ patternsRecord()

void Mrm_col_can::patternsRecord ( )

Record patterns manually

◆ reading()

uint16_t Mrm_col_can::reading	(	uint8_t	colorId = `0`,
		uint8_t	deviceNumber = `0`
	)

Analog readings

Parameters

color	- one of 6 colors
sensorNumber	- Sensor's ordinal number. Each call of function add() assigns a increasing number to the sensor, starting with 0.

Returns: - analog value

Analog readings

Parameters

colorId	- one of 6 colors
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - analog value

◆ readingsPrint()

void Mrm_col_can::readingsPrint ( )

Print all readings in a line

◆ saturation()

uint8_t Mrm_col_can::saturation ( uint8_t deviceNumber )

Saturation

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - saturation

◆ switchTo6Colors()

void Mrm_col_can::switchTo6Colors ( uint8_t deviceNumber = 0xFF )

Instruction to sensor to start returning 6 raw colors

Parameters

sensorNumber - Sensor's ordinal number. Each call of function add() assigns a increasing number to the sensor, starting with 0. 0xFF - all sensors.

◆ switchToHSV()

void Mrm_col_can::switchToHSV ( uint8_t deviceNumber = 0xFF )

Instruction to sensor to switch to converting R, G, and B on board and return hue, saturation and value

Parameters

sensorNumber - Sensor's ordinal number. Each call of function add() assigns a increasing number to the sensor, starting with 0. 0xFF - all sensors.

◆ test()

void Mrm_col_can::test ( bool hsvSelect )

Test

Parameters

hsv	- if not, then 6 colors

Test

Parameters

breakWhen	- A function returning bool, without arguments. If it returns true, the test() will be interrupted.
hsv	- if not, then 6 colors

◆ value()

uint8_t Mrm_col_can::value ( uint8_t deviceNumber )

Value

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - value

The documentation for this class was generated from the following files:

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-col-can/src/mrm-col-can.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-col-can/src/mrm-col-can.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Mrm_col_can()

Member Function Documentation

◆ add()

◆ colorBlue()

◆ colorGreen()

◆ colorOrange()

◆ colorRed()

◆ colorViolet()

◆ colorYellow()

◆ gain()

◆ hue()

◆ illumination()

◆ integrationTime()

◆ messageDecode()

◆ patternErase()

◆ patternPrint()

◆ patternRecognizedBy6Colors()

◆ patternRecognizedByHSV()

◆ patternRecord()

◆ patternsRecord()

◆ reading()

◆ readingsPrint()

◆ saturation()

◆ switchTo6Colors()

◆ switchToHSV()

◆ test()

◆ value()