VEX Optical Sensor C++ API

pros::Optical

Constructor(s)

Prototype
Example
pros::Optical(const std::uint8_t port)

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#define OPTICAL_PORT 1

void initialize() {
  pros::Optical optical_sensor(OPTICAL_PORT);
}
Parameters  
port The V5 port number from 1-21
Prototype
Example
pros::Optical(const std::uint8_t port, double time)

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#define OPTICAL_PORT 1

void initialize() {
  pros::Optical optical_sensor(OPTICAL_PORT, 50);
}
Parameters  
port The V5 port number from 1-21
time The integration time (update rate) to set for the optical sensor, clamped to the range 3ms - 712ms. The default is 100 ms, with the optical sensor communciating with the V5 brain every 20 ms.

This function uses the following values of errno when an error state is reached: - ENXIO - The given value is not within the range of V5 ports (1-21). - ENODEV - The port cannot be configured as an Optical Sensor

Functions

get_hue ( )

Get the detected color hue. This is not avaliable if gestures are being detected. Hue has a range of 0 to 359.999.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
double get_hue( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    printf("Hue value: %lf \n", optical_sensor.get_hue());
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: The hue value the Optical sensor sees or PROS_ERR if the operation failed, setting errno.

get_saturation ( )

Get the detected color saturation. This is not avaliable if gestures are being detected. Saturation has a range of 0 to 1.0.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
double get_saturation( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    printf("Saturation value: %lf \n", optical_sensor.get_saturation());
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: The saturation value of the Optical sensor or PROS_ERR if the operation failed, setting errno.

get_brightness( )

Get the detected color brightness. This is not avaliable if gestures are being detected. Brightness has a range of 0 to 1.0

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
double get_brightness( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    printf("Brightness value: %lf \n", optical_sensor.get_brightness());
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: Optical sensor’s brightness value or PROS_ERR if the operation failed, setting errno.

get_proximity( )

Get the detected proximity value. This is not avaliable if gestures are being detected. Proximity has a range of 0 to 255.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
std::int32_t get_proximity( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
                printf("Proximity value: %ld \n", optical_sensor.get_proximity());
                pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: Optical sensor’s proximity value or PROS_ERR if the operation failed, setting errno.

set_led_pwm

Set the pwm value of the White LED on the sensor. Value ranges from 0 to 100

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
std::int32_t set_led_pwm(uint8_t value)

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
                optical_sensor.set_led_pwm(50);
                pros::delay(20);
  }
}
Parameters  
value The value to set the LED from (0-100)

Returns: 1 if operation was successful or PROS_ERR if the operation failed, setting errno.

get_led_pwm

Get the pwm value of the White LED on the sensor. Values range from 0 to 100.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
std::int32_t get_led_pwm( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
                printf("LED PWM: %d \n", optical_sensor.get_led_pwm());
                pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: Optical sensor’s LED PWM value or PROS_ERR if the operation failed, setting errno.

get_rgb

Get the processed RGBC data from the sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
pros::c::optical_rgb_s_t get_rgb( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  pros::c::optical_rgb_s_t rgb_value;
  while (true) {
    rgb_value = optical_sensor.get_rgb();
                printf("Red value: %lf \n", rgb_value.red);
    printf("Green value: %lf \n", rgb_value.green);
    printf("Blue value: %lf \n", rgb_value.blue);
    printf("Clear value: %lf \n", rgb_value.clear);
                pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: A struct of RGB values from the Optical Sensor or PROS_ERR if the operation failed, setting errno.

get_raw ( )

Get the raw un-processed RGBC data from the sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
pros::c::optical_raw_s_t get_raw( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  pros::c::optical_raw_s_t raw_values;
  while (true) {
    raw_values = optical_sensor.get_raw();
    printf("Red value: %ld \n", raw_values.red);
    printf("Green value: %ld \n", raw_values.green);
    printf("Blue value: %ld \n", raw_values.blue);
    printf("Clear value: %ld \n", raw_values.clear);
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: A struct of the raw rgb values from the Optical Sensor or PROS_ERR if the operation failed, setting errno.

get_gesture ( )

Get the most recent gesture data from the sensor

Gestures will be cleared after 500mS

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
pros::c::optical_direction_e_t get_gesture( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    printf("Direction: %d \n", optical_sensor.get_gesture());
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: The direction of the most recent gesture from the Optical Sensor or PROS_ERR if the operation failed, setting errno.

get_gesture_raw ( )

Get the most recent raw gesture data from the sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
pros::c::optical_gesture_s_t get_gesture_raw( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  pros::c::optical_gesture_s_t raw_gesture;
  while (true) {
    raw_gesture = optical_sensor.get_gesture_raw();
    printf("Up data: %u \n", raw_gesture.udata);
    printf("Down data: %u \n", raw_gesture.ddata);
    printf("Left data: %u \n", raw_gesture.ldata);
    printf("Right data: %u \n", raw_gesture.rdata);
    printf("Type: %u \n", raw_gesture.type);
    printf("Count: %u \n", raw_gesture.count);
    printf("Time: %u \n", raw_gesture.time);
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: A struct of the raw gesture values from the Optical Sensor or PROS_ERR if the operation failed, setting errno.

enable_gesture ( )

Enable gesture detection on the sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
std::int32_t enable_gesture( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    optical_sensor.enable_gesture();
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: 1 if operation was successful or PROS_ERR if the operation failed, setting errno.

disable_gesture ( )

Disable gesture detection on the sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
std::int32_t disable_gesture( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    optical_sensor.disable_gesture();
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: 1 if operation was successful or PROS_ERR if the operation failed, setting errno.

set_integration_time

Sets the integration time (update rate) for the optical sensor in milliseconds. The minimum integration time is 3 milliseconds. The maximum integration time is 712 milliseconds.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
int32_t set_integration_time(double time)

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#define OPTICAL_PORT 1
#define OPTICAL_INTEGRATION_TIME 50

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  optical_sensor.set_integration_time(OPTICAL_INTEGRATION_TIME);

  while (true) {
    pros::delay(20);
  }
}
Parameters  
time The integration time (update rate) to set for the optical sensor, clamped to the range 3ms - 712ms. The default is 100 ms, with the optical sensor communciating with the V5 brain every 20 ms.

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

get_integration_time

Gets the integration time (update rate) of the optical sensor in milliseconds.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
double get_integration_time()

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    printf("Integration time: %u\n", optical_sensor.get_integration_time());
    pros::delay(20);
  }
}

Returns: The integration time of the optical sensor in milliseconds, or PROS_ERR_F if the operation failed, setting errno.

get_port ( )

Gets the port number of the Optical Sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Optical Sensor.
Prototype
Example
std::uint8_t get_port( )

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#define OPTICAL_PORT 1

void opcontrol() {
  pros::Optical optical_sensor(OPTICAL_PORT);
  while (true) {
    printf("Port number: %u \n", optical_sensor.get_port());
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from 1-21

Returns: The port number of the Optical Sensor or PROS_ERR if the operation failed, setting errno.