Go - Color Bricklet¶

Simple¶

Download (example_simple.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/color_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Color Bricklet.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    c, _ := color_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Get current color.
    r, g, b, c_, _ := c.GetColor()

    fmt.Printf("Color [R]: %d\n", r)
    fmt.Printf("Color [G]: %d\n", g)
    fmt.Printf("Color [B]: %d\n", b)
    fmt.Printf("Color [C]: %d\n", c_)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

Callback¶

Download (example_callback.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/color_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Color Bricklet.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    c, _ := color_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    c.RegisterColorCallback(func(r uint16, g uint16, b uint16, c uint16) {
        fmt.Printf("Color [R]: %d\n", r)
        fmt.Printf("Color [G]: %d\n", g)
        fmt.Printf("Color [B]: %d\n", b)
        fmt.Printf("Color [C]: %d\n", c)
        fmt.Println()
    })

    // Set period for color receiver to 1s (1000ms).
    // Note: The color callback is only called every second
    //       if the color has changed since the last call!
    c.SetColorCallbackPeriod(1000)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

Threshold¶

Download (example_threshold.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/color_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Color Bricklet.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    c, _ := color_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Get threshold receivers with a debounce time of 10 seconds (10000ms).
    c.SetDebouncePeriod(10000)

    c.RegisterColorReachedCallback(func(r uint16, g uint16, b uint16, c uint16) {
        fmt.Printf("Color [R]: %d\n", r)
        fmt.Printf("Color [G]: %d\n", g)
        fmt.Printf("Color [B]: %d\n", b)
        fmt.Printf("Color [C]: %d\n", c)
        fmt.Println()
    })

    // Configure threshold for color "greater than 100, 200, 300, 400".
    c.SetColorCallbackThreshold('>', 100, 0, 200, 0, 300, 0, 400, 0)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

Basic Functions¶

func color_bricklet.New(uid string, ipcon *IPConnection) (device ColorBricklet, err error)¶

Parameters:	uid – Type: string ipcon – Type: *IPConnection
Returns:	device – Type: ColorBricklet err – Type: error

Creates a new ColorBricklet object with the unique device ID uid and adds it to the IPConnection ipcon:

device, err := color_bricklet.New("YOUR_DEVICE_UID", &ipcon)

This device object can be used after the IPConnection has been connected.

func (*ColorBricklet) GetColor() (r uint16, g uint16, b uint16, c uint16, err error)¶

Returns:	r – Type: uint16, Range: [0 to 216 - 1] g – Type: uint16, Range: [0 to 216 - 1] b – Type: uint16, Range: [0 to 216 - 1] c – Type: uint16, Range: [0 to 216 - 1] err – Type: error

Returns the measured color of the sensor.

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 ColorCallback callback and set the period with SetColorCallbackPeriod().

func (*ColorBricklet) LightOn() (err error)¶

Returns:	err – Type: error

Turns the LED on.

func (*ColorBricklet) LightOff() (err error)¶

Returns:	err – Type: error

Turns the LED off.

func (*ColorBricklet) IsLightOn() (light uint8, err error)¶

Returns:	light – Type: uint8, Range: See constants, Default: 1 err – Type: error

Returns the state of the LED. Possible values are:

• 0: On
• 1: Off

The following constants are available for this function:

For light:

• color_bricklet.LightOn = 0
• color_bricklet.LightOff = 1

func (*ColorBricklet) SetConfig(gain uint8, integrationTime uint8) (err error)¶

Parameters:	gain – Type: uint8, Range: See constants, Default: 3 integrationTime – Type: uint8, Range: See constants, Default: 3
Returns:	err – Type: error

Sets the configuration of the sensor. Gain and integration time can be configured in this way.

For configuring the gain:

• 0: 1x Gain
• 1: 4x Gain
• 2: 16x Gain
• 3: 60x Gain

For configuring the integration time:

• 0: 2.4ms
• 1: 24ms
• 2: 101ms
• 3: 154ms
• 4: 700ms

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 following constants are available for this function:

For gain:

• color_bricklet.Gain1x = 0
• color_bricklet.Gain4x = 1
• color_bricklet.Gain16x = 2
• color_bricklet.Gain60x = 3

For integrationTime:

• color_bricklet.IntegrationTime2ms = 0
• color_bricklet.IntegrationTime24ms = 1
• color_bricklet.IntegrationTime101ms = 2
• color_bricklet.IntegrationTime154ms = 3
• color_bricklet.IntegrationTime700ms = 4

func (*ColorBricklet) GetConfig() (gain uint8, integrationTime uint8, err error)¶

Returns:	gain – Type: uint8, Range: See constants, Default: 3 integrationTime – Type: uint8, Range: See constants, Default: 3 err – Type: error

Returns the configuration as set by SetConfig().

The following constants are available for this function:

For gain:

• color_bricklet.Gain1x = 0
• color_bricklet.Gain4x = 1
• color_bricklet.Gain16x = 2
• color_bricklet.Gain60x = 3

For integrationTime:

• color_bricklet.IntegrationTime2ms = 0
• color_bricklet.IntegrationTime24ms = 1
• color_bricklet.IntegrationTime101ms = 2
• color_bricklet.IntegrationTime154ms = 3
• color_bricklet.IntegrationTime700ms = 4

func (*ColorBricklet) GetIlluminance() (illuminance uint32, err error)¶

Returns:	illuminance – Type: uint32, Unit: ? lx, Range: [0 to 103438] err – Type: error

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 themselves 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().

func (*ColorBricklet) GetColorTemperature() (colorTemperature uint16, err error)¶

Returns:	colorTemperature – Type: uint16, Unit: 1 K, Range: [0 to 216 - 1] err – Type: error

Returns the color temperature.

To get a correct color temperature measurement make sure that the color values themselves 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().

Advanced Functions¶

func (*ColorBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)¶

Returns:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: rune, Range: ['a' to 'h', 'z'] hardwareVersion – Type: [3]uint8 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] firmwareVersion – Type: [3]uint8 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] deviceIdentifier – Type: uint16, Range: [0 to 216 - 1] err – Type: error

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', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

func (*ColorBricklet) SetColorCallbackPeriod(period uint32) (err error)¶

Parameters:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	err – Type: error

Sets the period with which the ColorCallback callback is triggered periodically. A value of 0 turns the callback off.

The ColorCallback callback is only triggered if the color has changed since the last triggering.

func (*ColorBricklet) GetColorCallbackPeriod() (period uint32, err error)¶

Returns:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 err – Type: error

Returns the period as set by SetColorCallbackPeriod().

func (*ColorBricklet) SetColorCallbackThreshold(option rune, minR uint16, maxR uint16, minG uint16, maxG uint16, minB uint16, maxB uint16, minC uint16, maxC uint16) (err error)¶

Parameters:

option – Type: rune, Range: See constants, Default: 'x' minR – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxR – Type: uint16, Range: [0 to 216 - 1], Default: 0 minG – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxG – Type: uint16, Range: [0 to 216 - 1], Default: 0 minB – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxB – Type: uint16, Range: [0 to 216 - 1], Default: 0 minC – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxC – Type: uint16, Range: [0 to 216 - 1], Default: 0

Returns:

err – Type: error

Sets the thresholds for the ColorReachedCallback 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 following constants are available for this function:

For option:

• color_bricklet.ThresholdOptionOff = 'x'
• color_bricklet.ThresholdOptionOutside = 'o'
• color_bricklet.ThresholdOptionInside = 'i'
• color_bricklet.ThresholdOptionSmaller = '<'
• color_bricklet.ThresholdOptionGreater = '>'

func (*ColorBricklet) GetColorCallbackThreshold() (option rune, minR uint16, maxR uint16, minG uint16, maxG uint16, minB uint16, maxB uint16, minC uint16, maxC uint16, err error)¶

Returns:

option – Type: rune, Range: See constants, Default: 'x' minR – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxR – Type: uint16, Range: [0 to 216 - 1], Default: 0 minG – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxG – Type: uint16, Range: [0 to 216 - 1], Default: 0 minB – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxB – Type: uint16, Range: [0 to 216 - 1], Default: 0 minC – Type: uint16, Range: [0 to 216 - 1], Default: 0 maxC – Type: uint16, Range: [0 to 216 - 1], Default: 0 err – Type: error

Returns the threshold as set by SetColorCallbackThreshold().

The following constants are available for this function:

For option:

• color_bricklet.ThresholdOptionOff = 'x'
• color_bricklet.ThresholdOptionOutside = 'o'
• color_bricklet.ThresholdOptionInside = 'i'
• color_bricklet.ThresholdOptionSmaller = '<'
• color_bricklet.ThresholdOptionGreater = '>'

func (*ColorBricklet) SetDebouncePeriod(debounce uint32) (err error)¶

Parameters:	debounce – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Returns:	err – Type: error

Sets the period with which the threshold callback

• ColorReachedCallback

is triggered, if the threshold

• SetColorCallbackThreshold()

keeps being reached.

func (*ColorBricklet) GetDebouncePeriod() (debounce uint32, err error)¶

Returns:	debounce – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100 err – Type: error

Returns the debounce period as set by SetDebouncePeriod().

func (*ColorBricklet) SetIlluminanceCallbackPeriod(period uint32) (err error)¶

Parameters:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	err – Type: error

Sets the period with which the IlluminanceCallback callback is triggered periodically. A value of 0 turns the callback off.

The IlluminanceCallback callback is only triggered if the illuminance has changed since the last triggering.

func (*ColorBricklet) GetIlluminanceCallbackPeriod() (period uint32, err error)¶

Returns:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 err – Type: error

Returns the period as set by SetIlluminanceCallbackPeriod().

func (*ColorBricklet) SetColorTemperatureCallbackPeriod(period uint32) (err error)¶

Parameters:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	err – Type: error

Sets the period with which the ColorTemperatureCallback callback is triggered periodically. A value of 0 turns the callback off.

The ColorTemperatureCallback callback is only triggered if the color temperature has changed since the last triggering.

func (*ColorBricklet) GetColorTemperatureCallbackPeriod() (period uint32, err error)¶

Returns:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 err – Type: error

Returns the period as set by SetColorTemperatureCallbackPeriod().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding Register*Callback function, which returns a unique callback ID. This ID can be used to deregister the callback later with the corresponding Deregister*Callback function.

func (*ColorBricklet) RegisterColorCallback(func(r uint16, g uint16, b uint16, c uint16)) (registrationId uint64)¶

Callback Parameters:	r – Type: uint16, Range: [0 to 216 - 1] g – Type: uint16, Range: [0 to 216 - 1] b – Type: uint16, Range: [0 to 216 - 1] c – Type: uint16, Range: [0 to 216 - 1]
Returns:	registrationId – Type: uint64

This callback is triggered periodically with the period that is set by SetColorCallbackPeriod(). The callback parameter is the color of the sensor as RGBC.

The ColorCallback callback is only triggered if the color has changed since the last triggering.

func (*ColorBricklet) RegisterColorReachedCallback(func(r uint16, g uint16, b uint16, c uint16)) (registrationId uint64)¶

Callback Parameters:	r – Type: uint16, Range: [0 to 216 - 1] g – Type: uint16, Range: [0 to 216 - 1] b – Type: uint16, Range: [0 to 216 - 1] c – Type: uint16, Range: [0 to 216 - 1]
Returns:	registrationId – Type: uint64

This callback is triggered when the threshold as set by SetColorCallbackThreshold() is reached. The callback 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().

func (*ColorBricklet) RegisterIlluminanceCallback(func(illuminance uint32)) (registrationId uint64)¶

Callback Parameters:	illuminance – Type: uint32, Unit: ? lx, Range: [0 to 103438]
Returns:	registrationId – Type: uint64

This callback is triggered periodically with the period that is set by SetIlluminanceCallbackPeriod(). The callback parameter is the illuminance. See GetIlluminance() for how to interpret this value.

The IlluminanceCallback callback is only triggered if the illuminance has changed since the last triggering.

func (*ColorBricklet) RegisterColorTemperatureCallback(func(colorTemperature uint16)) (registrationId uint64)¶

Callback Parameters:	colorTemperature – Type: uint16, Unit: 1 K, Range: [0 to 216 - 1]
Returns:	registrationId – Type: uint64

This callback is triggered periodically with the period that is set by SetColorTemperatureCallbackPeriod(). The callback parameter is the color temperature.

The ColorTemperatureCallback callback is only triggered if the color temperature has changed since the last triggering.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

func (*ColorBricklet) GetAPIVersion() (apiVersion [3]uint8, err error)¶

Returns:	apiVersion – Type: [3]uint8 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] err – Type: error

Returns the version of the API definition 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.

func (*ColorBricklet) GetResponseExpected(functionId uint8) (responseExpected bool, err error)¶

Parameters:	functionId – Type: uint8, Range: See constants
Returns:	responseExpected – Type: bool err – Type: error

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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• color_bricklet.FunctionSetColorCallbackPeriod = 2
• color_bricklet.FunctionSetColorCallbackThreshold = 4
• color_bricklet.FunctionSetDebouncePeriod = 6
• color_bricklet.FunctionLightOn = 10
• color_bricklet.FunctionLightOff = 11
• color_bricklet.FunctionSetConfig = 13
• color_bricklet.FunctionSetIlluminanceCallbackPeriod = 17
• color_bricklet.FunctionSetColorTemperatureCallbackPeriod = 19

func (*ColorBricklet) SetResponseExpected(functionId uint8, responseExpected bool) (err error)¶

Parameters:	functionId – Type: uint8, Range: See constants responseExpected – Type: bool
Returns:	err – Type: error

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.

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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• color_bricklet.FunctionSetColorCallbackPeriod = 2
• color_bricklet.FunctionSetColorCallbackThreshold = 4
• color_bricklet.FunctionSetDebouncePeriod = 6
• color_bricklet.FunctionLightOn = 10
• color_bricklet.FunctionLightOff = 11
• color_bricklet.FunctionSetConfig = 13
• color_bricklet.FunctionSetIlluminanceCallbackPeriod = 17
• color_bricklet.FunctionSetColorTemperatureCallbackPeriod = 19

func (*ColorBricklet) SetResponseExpectedAll(responseExpected bool) (err error)¶

Parameters:	responseExpected – Type: bool
Returns:	err – Type: error

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants¶

color_bricklet.DeviceIdentifier¶

This constant is used to identify a Color Bricklet.

The GetIdentity() function and the (*IPConnection) RegisterEnumerateCallback callback of the IPConnection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

color_bricklet.DeviceDisplayName¶

This constant represents the human readable name of a Color Bricklet.