Driver for use with the I2C, V2 iteration of Connector-X. More...

#include <ConnectorX.h>

Inheritance diagram for ConnectorX::ConnectorXBoard:

Collaboration diagram for ConnectorX::ConnectorXBoard:

Public Member Functions
	ConnectorXBoard (uint8_t slaveAddress, frc::I2C::Port port=frc::I2C::kMXP, units::second_t connectorXDelay=0.002_s)
	Construct a new Connector-X driver instance.

bool	initialize ()
	Start communication with the controller.

Commands::CommandType	lastCommand () const
	Get the last command sent.

PatternType	lastPattern (LedPort port, uint8_t zoneIndex=0) const
	Get the last pattern sent.

void	configureDigitalPin (DigitalPort port, PinMode mode)
	Configure a digital IO pin. Think Arduino pinMode()

void	writeDigitalPin (DigitalPort port, bool value)
	Set a digital IO pin.

bool	readDigitalPin (DigitalPort port)
	Read state of digital IO pin.

uint16_t	readAnalogPin (AnalogPort port)
	Read the ADC value. Ranges from 0 - 3.3v; 12 bits of precision.

void	setOn ()
	Turn on.

void	setOff ()
	Turn off.

void	setPattern (LedPort port, PatternType pattern, bool oneShot=false, int16_t delay=-1, uint8_t zoneIndex=0, bool reversed=false)
	Send the PATTERN command.

void	setColor (LedPort port, uint8_t red, uint8_t green, uint8_t blue, uint8_t zoneIndex=0)
	Set the color; must also call a pattern to see it.

void	setColor (LedPort port, frc::Color8Bit color, uint8_t zoneIndex=0)
	Set the color using frc::Color8Bit.

void	setColor (LedPort port, uint32_t color, uint8_t zoneIndex=0)
	Set the color; must also call a pattern to see it.

frc::Color8Bit	getCurrentColor (LedPort port, uint8_t zoneIndex=0)
	Get the current on-board Color, not the cached one.

bool	getPatternDone (LedPort port)
	Read if pattern is done running.

void	setConfig (Commands::Configuration config)
	Store the config in board's EEPROM.

Commands::Configuration	readConfig ()
	Read the config stored in EEPROM.

void	sendRadioMessage (Message message)
	Send a message via the radio; set team to 0xFFFF to broadcast to all.

Message	getLatestRadioMessage ()
	Read the last received message.

LedPort	getCurrentLedPort ()
	Get the current port.

CachedPort &	getCurrentCachedPort ()

void	setLedPort (LedPort port)

CachedZone &	setCurrentZone (LedPort port, uint8_t zoneIndex=0, bool reversed=false, bool setReversed=false)
	Set the current zone for running patterns.

CachedZone &	getCurrentZone ()

void	syncZones (LedPort port, const std::vector< uint8_t > &zones)
	Sync up to 10 zones to the same 0 state.

void	createZones (LedPort port, std::vector< Commands::NewZone > &&newZones)
	Create up to 10 new zones.

Detailed Description

Driver for use with the I2C, V2 iteration of Connector-X.

Definition at line 320 of file ConnectorX.h.

Constructor & Destructor Documentation

◆ ConnectorXBoard()

ConnectorX::ConnectorXBoard::ConnectorXBoard	(	uint8_t	slaveAddress,
		frc::I2C::Port	port = frc::I2C::kMXP,
		units::second_t	connectorXDelay = 0.002_s )

explicit

Construct a new Connector-X driver instance.

Parameters

slaveAddress	Set in the board's configuration
port	Will typically be the 40-pin frc::I2C::kMXP header
connectorXDelay	Delay in seconds between sending commands

Member Function Documentation

◆ configureDigitalPin()

void ConnectorX::ConnectorXBoard::configureDigitalPin	(	DigitalPort	port,
		PinMode	mode )

Configure a digital IO pin. Think Arduino pinMode()

Parameters

port
mode	Input, Output, etc.

◆ createZones()

void ConnectorX::ConnectorXBoard::createZones	(	LedPort	port,
		std::vector< Commands::NewZone > &&	newZones )

Create up to 10 new zones.

◆ getCurrentCachedPort()

CachedPort & ConnectorX::ConnectorXBoard::getCurrentCachedPort ( )

inline

Definition at line 486 of file ConnectorX.h.

◆ getCurrentColor()

frc::Color8Bit ConnectorX::ConnectorXBoard::getCurrentColor	(	LedPort	port,
		uint8_t	zoneIndex = 0 )

inline

Get the current on-board Color, not the cached one.

Definition at line 438 of file ConnectorX.h.

◆ getCurrentLedPort()

LedPort ConnectorX::ConnectorXBoard::getCurrentLedPort ( )

inline

Get the current port.

Returns: LedPort

Definition at line 482 of file ConnectorX.h.

◆ getCurrentZone()

CachedZone & ConnectorX::ConnectorXBoard::getCurrentZone ( )

inline

Definition at line 505 of file ConnectorX.h.

◆ getLatestRadioMessage()

Message ConnectorX::ConnectorXBoard::getLatestRadioMessage ( )

Read the last received message.

Returns: Message

◆ getPatternDone()

bool ConnectorX::ConnectorXBoard::getPatternDone ( LedPort port )

Read if pattern is done running.

Returns: true if pattern is done

◆ initialize()

bool ConnectorX::ConnectorXBoard::initialize ( )

Start communication with the controller.

Returns: true if successful init

◆ lastCommand()

Commands::CommandType ConnectorX::ConnectorXBoard::lastCommand ( ) const

inline

Get the last command sent.

Returns: CommandType

Definition at line 345 of file ConnectorX.h.

◆ lastPattern()

PatternType ConnectorX::ConnectorXBoard::lastPattern	(	LedPort	port,
		uint8_t	zoneIndex = 0 ) const

inline

Get the last pattern sent.

Parameters

port

Returns: PatternType

Definition at line 353 of file ConnectorX.h.

◆ readAnalogPin()

uint16_t ConnectorX::ConnectorXBoard::readAnalogPin ( AnalogPort port )

Read the ADC value. Ranges from 0 - 3.3v; 12 bits of precision.

Parameters

port

Returns: uint16_t

◆ readConfig()

Commands::Configuration ConnectorX::ConnectorXBoard::readConfig ( )

Read the config stored in EEPROM.

Returns: Configuration

◆ readDigitalPin()

bool ConnectorX::ConnectorXBoard::readDigitalPin ( DigitalPort port )

Read state of digital IO pin.

Parameters

port

Returns: true - Remember this will be HIGH by default if set to INPUT_PULLUP; false

◆ sendRadioMessage()

void ConnectorX::ConnectorXBoard::sendRadioMessage ( Message message )

Send a message via the radio; set team to 0xFFFF to broadcast to all.

Parameters

message

◆ setColor() [1/3]

void ConnectorX::ConnectorXBoard::setColor	(	LedPort	port,
		frc::Color8Bit	color,
		uint8_t	zoneIndex = 0 )

inline

Set the color using frc::Color8Bit.

Definition at line 421 of file ConnectorX.h.

◆ setColor() [2/3]

void ConnectorX::ConnectorXBoard::setColor	(	LedPort	port,
		uint32_t	color,
		uint8_t	zoneIndex = 0 )

inline

Set the color; must also call a pattern to see it.

Parameters

color Color data in the form of 0x00RRGGBB

Definition at line 430 of file ConnectorX.h.

◆ setColor() [3/3]

void ConnectorX::ConnectorXBoard::setColor	(	LedPort	port,
		uint8_t	red,
		uint8_t	green,
		uint8_t	blue,
		uint8_t	zoneIndex = 0 )

Set the color; must also call a pattern to see it.

◆ setConfig()

void ConnectorX::ConnectorXBoard::setConfig ( Commands::Configuration config )

Store the config in board's EEPROM.

Parameters

config

◆ setCurrentZone()

CachedZone & ConnectorX::ConnectorXBoard::setCurrentZone	(	LedPort	port,
		uint8_t	zoneIndex = 0,
		bool	reversed = false,
		bool	setReversed = false )

Set the current zone for running patterns.

Parameters

port
zoneIndex
reversed	Run the pattern in reverse
setReversed	Will set the zone to reversed when true and reversed is true

Returns: CachedZone&

◆ setLedPort()

void ConnectorX::ConnectorXBoard::setLedPort ( LedPort port )

◆ setOff()

void ConnectorX::ConnectorXBoard::setOff ( )

Turn off.

◆ setOn()

void ConnectorX::ConnectorXBoard::setOn ( )

Turn on.

◆ setPattern()

void ConnectorX::ConnectorXBoard::setPattern	(	LedPort	port,
		PatternType	pattern,
		bool	oneShot = false,
		int16_t	delay = -1,
		uint8_t	zoneIndex = 0,
		bool	reversed = false )

Send the PATTERN command.

Parameters

pattern
oneShot	Only run the pattern once

◆ syncZones()

void ConnectorX::ConnectorXBoard::syncZones	(	LedPort	port,
		const std::vector< uint8_t > &	zones )

Sync up to 10 zones to the same 0 state.

◆ writeDigitalPin()

void ConnectorX::ConnectorXBoard::writeDigitalPin	(	DigitalPort	port,
		bool	value )

Set a digital IO pin.

Parameters

value

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

include/subzero/moduledrivers/ConnectorX.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ConnectorXBoard()

Member Function Documentation

◆ configureDigitalPin()

◆ createZones()

◆ getCurrentCachedPort()

◆ getCurrentColor()

◆ getCurrentLedPort()

◆ getCurrentZone()

◆ getLatestRadioMessage()

◆ getPatternDone()

◆ initialize()

◆ lastCommand()

◆ lastPattern()

◆ readAnalogPin()

◆ readConfig()

◆ readDigitalPin()

◆ sendRadioMessage()

◆ setColor() [1/3]

◆ setColor() [2/3]

◆ setColor() [3/3]

◆ setConfig()

◆ setCurrentZone()

◆ setLedPort()

◆ setOff()

◆ setOn()

◆ setPattern()

◆ syncZones()

◆ writeDigitalPin()