This is the description of the C# API bindings for the Color Bricklet. General information and technical specifications for the Color Bricklet are summarized in its hardware description.
An installation guide for the C# API bindings is part of their general description.
The example code below is Public Domain (CC0 1.0).
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | using Tinkerforge;
class Example
{
private static string HOST = "localhost";
private static int PORT = 4223;
private static string UID = "abc"; // Change to your UID
static void Main()
{
IPConnection ipcon = new Tinkerforge.IPConnection(); // Create IP connection
BrickletColor c = new Tinkerforge.BrickletColor(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get current color
int r; int g; int b; int cl;
c.GetColor(out r, out g, out b, out cl);
System.Console.WriteLine("Color(R): " + r);
System.Console.WriteLine("Color(G): " + g);
System.Console.WriteLine("Color(B): " + b);
System.Console.WriteLine("Color(C): " + cl);
System.Console.WriteLine("");
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
ipcon.Disconnect();
}
}
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | using Tinkerforge;
class Example
{
private static string HOST = "localhost";
private static int PORT = 4223;
private static string UID = "abc"; // Change to your UID
// Callback function for color callback
static void ColorCB(BrickletColor sender, int r, int g, int b, int cl)
{
System.Console.WriteLine("Color(R): " + r);
System.Console.WriteLine("Color(G): " + g);
System.Console.WriteLine("Color(B): " + b);
System.Console.WriteLine("Color(C): " + cl);
System.Console.WriteLine("");
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletColor c = new BrickletColor(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Set Period for color callback to 1s (1000ms)
// Note: The color callback is only called every second if the
// color has changed since the last call!
c.SetColorCallbackPeriod(1000);
// Register color callback to function ColorCB
c.Color += ColorCB;
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
ipcon.Disconnect();
}
}
|
Download (ExampleThreshold.cs)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | using Tinkerforge;
class Example
{
private static string HOST = "localhost";
private static int PORT = 4223;
private static string UID = "abc"; // Change to your UID
// Callback for color threshold reached
static void ReachedCB(BrickletColor sender, int r, int g, int b, int cl)
{
System.Console.WriteLine("Color(R): " + r);
System.Console.WriteLine("Color(G): " + g);
System.Console.WriteLine("Color(B): " + b);
System.Console.WriteLine("Color(C): " + cl);
System.Console.WriteLine("");
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletColor c = new BrickletColor(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get threshold callbacks with a debounce time of 10 seconds (10000ms)
c.SetDebouncePeriod(10000);
// Register threshold reached callback to function ReachedCB
c.ColorReached += ReachedCB;
// Configure threshold for color values,
// RED greater than 100
// GREEN greater than 200
// BLUE greater than 300
// CLEAR greater than 400
c.SetColorCallbackThreshold('>', 100, 0, 200, 0, 300, 0, 400, 0);
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
ipcon.Disconnect();
}
}
|
Generally, every method of the C# bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.
Since C# does not support multiple return values directly, we use the out keyword to return multiple values from a method.
The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.
All methods listed below are thread-safe.
Creates an object with the unique device ID uid:
BrickletColor color = new BrickletColor("YOUR_DEVICE_UID", ipcon);
This object can then be used after the IP Connection is connected (see examples above).
Returns the measured color of the sensor. The values have a range of 0 to 65535.
The red (r), green (g), blue (b) and clear (c) colors are measured with four different photodiodes that are responsive at different wavelengths:
If you want to get the color periodically, it is recommended to use the callback Color and set the period with SetColorCallbackPeriod().
Turns the LED on.
Turns the LED off.
Returns the state of the LED. Possible values are:
The following constants are available for this function:
Sets the configuration of the sensor. Gain and integration time can be configured in this way.
For configuring the gain:
For configuring the integration time:
Increasing the gain enables the sensor to detect a color from a higher distance.
The integration time provides a trade-off between conversion time and accuracy. With a longer integration time the values read will be more accurate but it will take longer time to get the conversion results.
The default values are 60x gain and 154ms integration time.
The following constants are available for this function:
Returns the configuration as set by SetConfig().
The following constants are available for this function:
Returns the illuminance affected by the gain and integration time as set by SetConfig(). To get the illuminance in Lux apply this formula:
lux = illuminance * 700 / gain / integration_time
To get a correct illuminance measurement make sure that the color values themself are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see SetConfig().
Returns the color temperature in Kelvin.
To get a correct color temperature measurement make sure that the color values themself are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see SetConfig().
Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.
Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.
For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected(). For setter functions it is disabled by default and can be enabled.
Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.
See SetResponseExpected() for the list of function ID constants available for this function.
Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled and callbacks it is always disabled.
Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.
The following function ID constants are available for this function:
Changes the response expected flag for all setter and callback configuration functions of this device at once.
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.
The position can be 'a', 'b', 'c' or 'd'.
The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.
Sets the period in ms with which the Color callback is triggered periodically. A value of 0 turns the callback off.
Color is only triggered if the color has changed since the last triggering.
The default value is 0.
Returns the period as set by SetColorCallbackPeriod().
Sets the thresholds for the ColorReached callback.
The following options are possible:
Option | Description |
---|---|
'x' | Callback is turned off |
'o' | Callback is triggered when the temperature is outside the min and max values |
'i' | Callback is triggered when the temperature is inside the min and max values |
'<' | Callback is triggered when the temperature is smaller than the min value (max is ignored) |
'>' | Callback is triggered when the temperature is greater than the min value (max is ignored) |
The default value is ('x', 0, 0, 0, 0, 0, 0, 0, 0).
The following constants are available for this function:
Returns the threshold as set by SetColorCallbackThreshold().
The following constants are available for this function:
Sets the period in ms with which the threshold callback
is triggered, if the threshold
keeps being reached.
The default value is 100.
Returns the debounce period as set by SetDebouncePeriod().
Sets the period in ms with which the Illuminance callback is triggered periodically. A value of 0 turns the callback off.
Illuminance is only triggered if the illuminance has changed since the last triggering.
The default value is 0.
Returns the period as set by SetIlluminanceCallbackPeriod().
Sets the period in ms with which the ColorTemperature callback is triggered periodically. A value of 0 turns the callback off.
ColorTemperature is only triggered if the color temperature has changed since the last triggering.
The default value is 0.
Returns the period as set by SetColorTemperatureCallbackPeriod().
Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by appending your callback handler to the corresponding event:
void Callback(BrickletColor sender, int value)
{
System.Console.WriteLine("Value: " + value);
}
color.ExampleCallback += Callback;
The available events are described below.
Note
Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.
This callback is triggered periodically with the period that is set by SetColorCallbackPeriod(). The parameter is the color of the sensor as RGBC.
Color is only triggered if the color has changed since the last triggering.
This callback is triggered when the threshold as set by SetColorCallbackThreshold() is reached. The parameter is the color of the sensor as RGBC.
If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod().
This callback is triggered periodically with the period that is set by SetIlluminanceCallbackPeriod(). The parameter is the illuminance. See GetIlluminance() for how to interpret this value.
Illuminance is only triggered if the illuminance has changed since the last triggering.
This callback is triggered periodically with the period that is set by SetColorTemperatureCallbackPeriod(). The parameter is the color temperature in Kelvin.
ColorTemperature is only triggered if the color temperature has changed since the last triggering.
This constant is used to identify a Color Bricklet.
The GetIdentity() function and the EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.