ev3api_sensor.h

#pragma once

typedef enum {
    EV3_PORT_1 = 0,       
    EV3_PORT_2 = 1,       
    EV3_PORT_3 = 2,       
    EV3_PORT_4 = 3,       
    TNUM_SENSOR_PORT = 4, 
} sensor_port_t;

typedef enum {
    NONE_SENSOR = 0,     
    ULTRASONIC_SENSOR,   
    GYRO_SENSOR,         
    TOUCH_SENSOR,        
    COLOR_SENSOR,        
    INFRARED_SENSOR,     
    HT_NXT_ACCEL_SENSOR, 
    HT_NXT_COLOR_SENSOR, 
    NXT_TEMP_SENSOR,     
    TNUM_SENSOR_TYPE     
} sensor_type_t;

typedef enum {
    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        
} colorid_t;

typedef struct {
    uint16_t r; 
    uint16_t g; 
    uint16_t b; 
} rgb_raw_t;

ER ev3_sensor_config(sensor_port_t port, sensor_type_t type);

ER_UINT ev3_sensor_get_type(sensor_port_t port);

colorid_t ev3_color_sensor_get_color(sensor_port_t port);

uint8_t ev3_color_sensor_get_reflect(sensor_port_t port);

uint8_t ev3_color_sensor_get_ambient(sensor_port_t port);

void ev3_color_sensor_get_rgb_raw(sensor_port_t port, rgb_raw_t *val);

int16_t ev3_gyro_sensor_get_angle(sensor_port_t port);

int16_t ev3_gyro_sensor_get_rate(sensor_port_t port);

ER ev3_gyro_sensor_reset(sensor_port_t port);

int16_t ev3_ultrasonic_sensor_get_distance(sensor_port_t port);

bool_t ev3_ultrasonic_sensor_listen(sensor_port_t port);

typedef struct {
    int8_t heading[4];  
    int8_t distance[4]; 
} ir_seek_t; 

#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

typedef struct {
    uint8_t channel[4];    
} ir_remote_t; 

int8_t ev3_infrared_sensor_get_distance(sensor_port_t port);

ir_seek_t ev3_infrared_sensor_seek(sensor_port_t port);

ir_remote_t ev3_infrared_sensor_get_remote(sensor_port_t port);

bool_t ev3_touch_sensor_is_pressed(sensor_port_t port);

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

bool_t ht_nxt_color_sensor_measure_color(sensor_port_t port, uint8_t *color);

bool_t ht_nxt_color_sensor_measure_rgb(sensor_port_t port, rgb_raw_t *val);

bool_t nxt_temp_sensor_measure(sensor_port_t port, float *temp);