Definitions of API for controlling sensors. More...

Data Structures
struct	rgb_raw_t
	Structure for an RGB raw value. More...

struct	ir_seek_t
	Structure for IR Seek values for all 4 channels. More...

struct	ir_remote_t

Macros
#define	IR_RED_UP_BUTTON 1

#define	IR_RED_DOWN_BUTTON 2

#define	IR_BLUE_UP_BUTTON 4

#define	IR_BLUE_DOWN_BUTTON 8

#define	IR_BEACON_BUTTON 16

Enumerations
enum	sensor_port_t { EV3_PORT_1 = 0, EV3_PORT_2 = 1, EV3_PORT_3 = 2, EV3_PORT_4 = 3, TNUM_SENSOR_PORT = 4 }
	Enumeration type for supported sensor ports. More...

enum	sensor_type_t { NONE_SENSOR = 0, ULTRASONIC_SENSOR, GYRO_SENSOR, TOUCH_SENSOR, COLOR_SENSOR, INFRARED_SENSOR, HT_NXT_ACCEL_SENSOR, NXT_TEMP_SENSOR, TNUM_SENSOR_TYPE }
	Enumeration type for supported sensor types. More...

enum	colorid_t { COLOR_NONE = 0, COLOR_BLACK = 1, COLOR_BLUE = 2, COLOR_GREEN = 3, COLOR_YELLOW = 4, COLOR_RED = 5, COLOR_WHITE = 6, COLOR_BROWN = 7, TNUM_COLOR }
	Enumeration type for colors that can be detected by color sensor. More...

Functions
ER	ev3_sensor_config (sensor_port_t port, sensor_type_t type)
	Configure a sensor port. More...

ER_UINT	ev3_sensor_get_type (sensor_port_t port)
	Get the type of a sensor port. More...

colorid_t	ev3_color_sensor_get_color (sensor_port_t port)
	Get the color by a color sensor. More...

uint8_t	ev3_color_sensor_get_reflect (sensor_port_t port)
	Get the reflect light intensity by a color sensor. More...

uint8_t	ev3_color_sensor_get_ambient (sensor_port_t port)
	Get the ambient light intensity by a color sensor. More...

void	ev3_color_sensor_get_rgb_raw (sensor_port_t port, rgb_raw_t *val)
	Get the RGB raw value by a color sensor. More...

int16_t	ev3_gyro_sensor_get_angle (sensor_port_t port)
	Get the angular position by a gyroscope sensor. More...

int16_t	ev3_gyro_sensor_get_rate (sensor_port_t port)
	Get the angular speed by a gyroscope sensor. More...

ER	ev3_gyro_sensor_reset (sensor_port_t port)
	Reset the angular position of a gyroscope sensor to zero. More...

int16_t	ev3_ultrasonic_sensor_get_distance (sensor_port_t port)
	Get the distance by a ultrasonic sensor. More...

bool_t	ev3_ultrasonic_sensor_listen (sensor_port_t port)
	Get a ultrasonic signal by a ultrasonic sensor. More...

int8_t	ev3_infrared_sensor_get_distance (sensor_port_t port)
	Get the distance using the infrared sensor. More...

ir_seek_t	ev3_infrared_sensor_seek (sensor_port_t port)
	Gets values to seek a remote controller in beacon mode. More...

ir_remote_t	ev3_infrared_sensor_get_remote (sensor_port_t port)
	Gets commands from IR remote controllers. More...

bool_t	ev3_touch_sensor_is_pressed (sensor_port_t port)
	Get the status of a touch sensor. More...

bool_t	ht_nxt_accel_sensor_measure (sensor_port_t port, int16_t axes[3])
	Measure acceleration with a HiTechnic NXT acceleration sensor. More...

bool_t	nxt_temp_sensor_measure (sensor_port_t port, float *temp)
	Measure temperature with a NXT temperature sensor (9749). More...

Detailed Description

Definitions of API for controlling sensors.

Enumeration Type Documentation

enum colorid_t

Enumeration type for colors that can be detected by color sensor.

Enumerator
COLOR_NONE	None.
COLOR_BLACK	Black.
COLOR_BLUE	Blue.
COLOR_GREEN	Green.
COLOR_YELLOW	Yellow.
COLOR_RED	Red.
COLOR_WHITE	White.
COLOR_BROWN	Brown.
TNUM_COLOR	Number of colors.

enum sensor_port_t

Enumeration type for supported sensor ports.

Enumerator
EV3_PORT_1	Port 1.
EV3_PORT_2	Port 2.
EV3_PORT_3	Port 3.
EV3_PORT_4	Port 4.
TNUM_SENSOR_PORT	Number of sensor ports.

enum sensor_type_t

Enumeration type for supported sensor types.

Enumerator
NONE_SENSOR	Not connected.
ULTRASONIC_SENSOR	Ultrasonic sensor.
GYRO_SENSOR	Gyroscope sensor.
TOUCH_SENSOR	Touch sensor.
COLOR_SENSOR	Color sensor.
INFRARED_SENSOR	Infra-Red sensor.
HT_NXT_ACCEL_SENSOR	HiTechnic NXT acceleration sensor.
NXT_TEMP_SENSOR	NXT temperature sensor.
TNUM_SENSOR_TYPE	Number of sensor types.

Function Documentation

uint8_t ev3_color_sensor_get_ambient ( sensor_port_t port )

Get the ambient light intensity by a color sensor.

Always returns 0 (error log is outputted) when an invalid sensor number is specified.

Parameters

port	Sensor port to be inquired

Returns: Ambient light intensity, ranging from 0 to 100

colorid_t ev3_color_sensor_get_color ( sensor_port_t port )

Get the color by a color sensor.

Always return COLOR_NONE (error is outputted) when an incorrect sensor number is specified.

Parameters

port	Sensor port to be inquired

Returns: Color detected

uint8_t ev3_color_sensor_get_reflect ( sensor_port_t port )

Get the reflect light intensity by a color sensor.

Always returns 0 (error log is outputted) when an invalid sensor number is specified.

Parameters

port	Sensor port to be inquired

Returns: Reflect light intensity, ranging from 0 to 100

void ev3_color_sensor_get_rgb_raw	(	sensor_port_t	port,
		rgb_raw_t *	val
	)

Get the RGB raw value by a color sensor.

If an invalid sensor number is specified, val is not updated (error log is output).

Parameters

port	Sensor port to be inquired
val	Pointer for storing sensor value

int16_t ev3_gyro_sensor_get_angle ( sensor_port_t port )

Get the angular position by a gyroscope sensor.

Always returns 0 (error log is outputted) when an invalid sensor number is specified.

Parameters

port	Sensor port to be inquired

Returns: Angular position in degrees

int16_t ev3_gyro_sensor_get_rate ( sensor_port_t port )

Get the angular speed by a gyroscope sensor.

Always returns 0 (error log is outputted) when an invalid sensor number is specified.

Parameters

port	Sensor port to be inquired

Returns: Angular speed in degrees/second.

ER ev3_gyro_sensor_reset ( sensor_port_t port )

Reset the angular position of a gyroscope sensor to zero.

Parameters

port	Sensor port to be reset

Return values

E_OK	Successful completion
E_ID	Illegal sensor port number

int8_t ev3_infrared_sensor_get_distance ( sensor_port_t port )

Get the distance using the infrared sensor.

Always returns 0 (error log is outputted) when an invalid sensor number is specified.

Parameters

port	Sensor port to be inquired.

Returns: Distance in percentage (0-100).

ir_remote_t ev3_infrared_sensor_get_remote ( sensor_port_t port )

Gets commands from IR remote controllers.

When an invalid sensor support number is specified, always return 0 pattern (error log is output).

Parameters

port	Sensor port to be inquired.

Returns: Struct with details of the IR remote buttons pressed.

ir_seek_t ev3_infrared_sensor_seek ( sensor_port_t port )

Gets values to seek a remote controller in beacon mode.

When an invalid sensor support number is specified, always return 0 direction and distance of -128 (error log is output).

Parameters

port	Sensor port to be inquired.

Returns: Struct with heading/distance for all (4) channels.

ER ev3_sensor_config	(	sensor_port_t	port,
		sensor_type_t	type
	)

Configure a sensor port.

Always returns 0 when an invalid sensor number is specified.

Parameters

port	Sensor port to be configured
type	Sensor type for the specified sensor port

Return values

E_OK	Successful completion
E_ID	Illegal sensor port number
E_PAR	Illegal sensor type

ER_UINT ev3_sensor_get_type ( sensor_port_t port )

Get the type of a sensor port.

Parameters

port	Sensor port to be inquired

Return values

>=0	Specified sensor type of supported sensor
E_ID	Incorrect sensor port number

bool_t ev3_touch_sensor_is_pressed ( sensor_port_t port )

Get the status of a touch sensor.

When an invalid sensor support number is specified, always returns false (error log is output)

Parameters

port	Sensor port to be inquired

Return values

true	Pressed pressed
false	Unpressed pressed

int16_t ev3_ultrasonic_sensor_get_distance ( sensor_port_t port )

Get the distance by a ultrasonic sensor.

Always returns 0 (error log is outputted) when an invalid sensor number is specified.

Parameters

port	Sensor port to be inquired

Returns: Distance in centimeters.

bool_t ev3_ultrasonic_sensor_listen ( sensor_port_t port )

Get a ultrasonic signal by a ultrasonic sensor.

When an invalid sensor support number is specified, always returns false (error log is output).

Parameters

port	Sensor port to be inquired

Return values

true	A signal has been received
false	No signal has been received

bool_t ht_nxt_accel_sensor_measure	(	sensor_port_t	port,
		int16_t	axes[3]
	)

Measure acceleration with a HiTechnic NXT acceleration sensor.

When an invalid sensor support number is specified, always returns false (error log is output)

Parameters

port	Sensor port to be inquired
axes	Array to store the x/y/z axes data

Return values

true	Axes [] is updated
false	Axes[] is unchanged due to I2C busy

bool_t nxt_temp_sensor_measure	(	sensor_port_t	port,
		float *	temp
	)

Measure temperature with a NXT temperature sensor (9749).

When an invalid sensor support number is specified, always returns false (error log is output)

Parameters

port	Sensor port to be inquired
temp	Variable to store the temperature value

Return values

true	Temp is updated)
false	Temp is unchanged due to I2C busy

Data Structures

Macros

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation