TMD37003.h

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#pragma once
#include <algorithm> 
#include <chrono>
#include <cstdint>
#include <frc/I2C.h>
#include <frc/util/Color.h>
 
 
namespace frc {
 
class TMD37003 {
  public:
    TMD37003(I2C::Port i2cPort);
 
 
    void ConfigureColorSense(double alsIntegrationTime, int alsGain);
 
 
    void ConfigureProximitySense(double proximitySampleTime, double proximityPulseLength, int numProximityPulses, 
                                 int proximityGain, int proximityLedCurrent);
 
 
    void SetGain(double r, double g, double b, double c, double gamma);
 
 
    Color GetColor();
 
 
    double GetHue();
 
 
    double GetSaturation();
 
 
    double GetRed();
 
 
    double GetGreen();
 
 
    double GetBlue();
 
    double GetAmbientLightLevel();
 
 
    double GetProximity();
        
 
    private:
        const uint8_t  m_deviceAddress = 0x39;
        I2C m_port;
        std::chrono::steady_clock::time_point lastRx;
 
        bool m_alsSaturated;
        bool m_proximitySaturated;
        double m_r;
        double m_g;
        double m_b;
        double m_c;
        double m_proximity;
 
        double m_alsIntegrationTime     = 80;
        double m_alsWaitTime            =  0;
        int    m_alsGain                =  4;
        double m_proximitySampleTime    = 20;
        double m_proximityPulseLength   = 0.008;
        int    m_numProximityPulses     =  2;
        int    m_proximityGain          =  2;
        int    m_proximityLedCurrent    = 90;
 
        double m_gamma = 1.0 / 2.2;
        double m_rGain = 1.0 / 0.197;
        double m_gGain = 1.0 / 0.126;
        double m_bGain = 1.0 / 0.071;
        double m_cGain = 1.0 / 0.340;
 
        enum Reg {
            ENABLE    = 0x80,
            ATIME     = 0x81,
            PRATE     = 0x82,
            WTIME     = 0x83,
            AILTL     = 0x84,
            AILTH     = 0x85,
            AIHTL     = 0x86,
            AIHTH     = 0x87,
            PILT      = 0x88,
            PIHT      = 0x8A,
            PERS      = 0x8C,
            CFG0      = 0x8D,
            PCFG0     = 0x8E,
            PCFG1     = 0x8F,
            CFG1      = 0x90,
            REVID     = 0x91,
            ID        = 0x92,
            STATUS    = 0x93,
            CDATAL    = 0x94,
            CDATAH    = 0x95,
            RDATAL    = 0x96,
            RDATAH    = 0x97,
            GDATAL    = 0x98,
            GDATAH    = 0x99,
            BDATAL    = 0x9A,
            BDATAH    = 0x9B,
            PDATA     = 0x9C,
            CFG2      = 0x9F,
            CFG3      = 0xAB,
            POFFSET_L = 0xC0,
            POFFSET_H = 0xC1,
            CALIB     = 0xD7,
            CALIBCFG  = 0xD9,
            CALIBSTAT = 0xDC,
            INTENAB   = 0xDD
        };
    
    void PushConfiguration();
 
     void Read();
};
 
}