Mathematica - Color Bricklet

This is the description of the Mathematica 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 Mathematica API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (ExampleSimple.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Color Bricklet*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
c=NETNew["Tinkerforge.BrickletColor",uid,ipcon]
ipcon@Connect[host,port]

(*Get current color*)
r=0;g=0;b=0;cU=0
c@GetColor[r,g,b,cU]

Print["Color [R]: "<>ToString[r]]
Print["Color [G]: "<>ToString[g]]
Print["Color [B]: "<>ToString[b]]
Print["Color [C]: "<>ToString[cU]]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[c]
ReleaseNETObject[ipcon]

Callback

Download (ExampleCallback.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Color Bricklet*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
c=NETNew["Tinkerforge.BrickletColor",uid,ipcon]
ipcon@Connect[host,port]

(*Callback function for color callback*)
ColorCB[sender_,r_,g_,b_,c_]:=
 Module[{},
  Print["Color [R]: "<>ToString[r]];
  Print["Color [G]: "<>ToString[g]];
  Print["Color [B]: "<>ToString[b]];
  Print["Color [C]: "<>ToString[c]]
 ]

AddEventHandler[c@ColorCallback,ColorCB]

(*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]

Input["Click OK to exit"]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[c]
ReleaseNETObject[ipcon]

Threshold

Download (ExampleThreshold.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Color Bricklet*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
c=NETNew["Tinkerforge.BrickletColor",uid,ipcon]
ipcon@Connect[host,port]

(*Get threshold callbacks with a debounce time of 10 seconds (10000ms)*)
c@SetDebouncePeriod[10000]

(*Callback function for color reached callback*)
ColorReachedCB[sender_,r_,g_,b_,c_]:=
 Module[{},
  Print["Color [R]: "<>ToString[r]];
  Print["Color [G]: "<>ToString[g]];
  Print["Color [B]: "<>ToString[b]];
  Print["Color [C]: "<>ToString[c]]
 ]

AddEventHandler[c@ColorReachedCallback,ColorReachedCB]

(*Configure threshold for color "greater than 100, 200, 300, 400"*)
option=Tinkerforge`BrickletColor`THRESHOLDUOPTIONUGREATER
c@SetColorCallbackThreshold[option,100,0,200,0,300,0,400,0]

Input["Click OK to exit"]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[c]
ReleaseNETObject[ipcon]

API

Generally, every method of the Mathematica 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 .NET/Link does not support multiple return values directly, we use the out keyword to return multiple values from a method. For further information about the out keyword in .NET/Link see the corresponding Mathematica .NET/Link documentation.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

Basic Functions

BrickletColor[uid, ipcon] → color
Parameters:
  • uid -- String
  • ipcon -- NETObject[IPConnection]
Returns:
  • color -- NETObject[BrickletColor]

Creates an object with the unique device ID uid:

color=NETNew["Tinkerforge.BrickletColor","YOUR_DEVICE_UID",ipcon]

This object can then be used after the IP Connection is connected (see examples above).

The .NET runtime has built-in garbage collection that frees objects that are no longer in use by a program. But because Mathematica can not automatically tell when a Mathematica "program" doesn't use a .NET object anymore, this has to be done by the program. For this the ReleaseNETObject[] function is used in the examples.

For further information about object management in .NET/Link see the corresponding Mathematica .NET/Link documentation.

BrickletColor@GetColor[out r, out g, out b, out c] → Null
Parameters:
  • r -- Integer
  • g -- Integer
  • b -- Integer
  • c -- Integer

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:

Chart Responsivity / Wavelength

If you want to get the color periodically, it is recommended to use the ColorCallback callback and set the period with SetColorCallbackPeriod[].

BrickletColor@LightOn[] → Null

Turns the LED on.

BrickletColor@LightOff[] → Null

Turns the LED off.

BrickletColor@IsLightOn[] → light
Returns:
  • light -- Integer

Returns the state of the LED. Possible values are:

  • 0: On
  • 1: Off

The following constants are available for this function:

  • BrickletColor`LIGHTUON = 0
  • BrickletColor`LIGHTUOFF = 1
BrickletColor@SetConfig[gain, integrationTime] → Null
Parameters:
  • gain -- Integer
  • integrationTime -- Integer

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 default values are 60x gain and 154ms integration time.

The following constants are available for this function:

  • BrickletColor`GAINU1X = 0
  • BrickletColor`GAINU4X = 1
  • BrickletColor`GAINU16X = 2
  • BrickletColor`GAINU60X = 3
  • BrickletColor`INTEGRATIONUTIMEU2MS = 0
  • BrickletColor`INTEGRATIONUTIMEU24MS = 1
  • BrickletColor`INTEGRATIONUTIMEU101MS = 2
  • BrickletColor`INTEGRATIONUTIMEU154MS = 3
  • BrickletColor`INTEGRATIONUTIMEU700MS = 4
BrickletColor@GetConfig[out gain, out integrationTime] → Null
Parameters:
  • gain -- Integer
  • integrationTime -- Integer

Returns the configuration as set by SetConfig[].

The following constants are available for this function:

  • BrickletColor`GAINU1X = 0
  • BrickletColor`GAINU4X = 1
  • BrickletColor`GAINU16X = 2
  • BrickletColor`GAINU60X = 3
  • BrickletColor`INTEGRATIONUTIMEU2MS = 0
  • BrickletColor`INTEGRATIONUTIMEU24MS = 1
  • BrickletColor`INTEGRATIONUTIMEU101MS = 2
  • BrickletColor`INTEGRATIONUTIMEU154MS = 3
  • BrickletColor`INTEGRATIONUTIMEU700MS = 4
BrickletColor@GetIlluminance[] → illuminance
Returns:
  • illuminance -- Integer

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[].

BrickletColor@GetColorTemperature[] → colorTemperature
Returns:
  • colorTemperature -- Integer

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[].

Advanced Functions

BrickletColor@GetAPIVersion[] → {apiVersion1, apiVersion2, apiVersion3}
Returns:
  • apiVersioni -- Integer

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.

BrickletColor@GetResponseExpected[functionId] → responseExpected
Parameters:
  • functionId -- Integer
Returns:
  • responseExpected -- True/False

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.

BrickletColor@SetResponseExpected[functionId, responseExpected] → Null
Parameters:
  • functionId -- Integer
  • responseExpected -- True/False

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

The following function ID constants are available for this function:

  • BrickletColor`FUNCTIONUSETUCOLORUCALLBACKUPERIOD = 2
  • BrickletColor`FUNCTIONUSETUCOLORUCALLBACKUTHRESHOLD = 4
  • BrickletColor`FUNCTIONUSETUDEBOUNCEUPERIOD = 6
  • BrickletColor`FUNCTIONULIGHTUON = 10
  • BrickletColor`FUNCTIONULIGHTUOFF = 11
  • BrickletColor`FUNCTIONUSETUCONFIG = 13
  • BrickletColor`FUNCTIONUSETUILLUMINANCEUCALLBACKUPERIOD = 17
  • BrickletColor`FUNCTIONUSETUCOLORUTEMPERATUREUCALLBACKUPERIOD = 19
BrickletColor@SetResponseExpectedAll[responseExpected] → Null
Parameters:
  • responseExpected -- True/False

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

BrickletColor@GetIdentity[out uid, out connectedUid, out position, out {hardwareVersion1, hardwareVersion2, hardwareVersion3}, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out deviceIdentifier] → Null
Parameters:
  • uid -- String
  • connectedUid -- String
  • position -- Integer
  • hardwareVersioni -- Integer
  • firmwareVersioni -- Integer
  • deviceIdentifier -- Integer

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.

Callback Configuration Functions

BrickletColor@SetColorCallbackPeriod[period] → Null
Parameters:
  • period -- Integer

Sets the period in ms 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.

The default value is 0.

BrickletColor@GetColorCallbackPeriod[] → period
Returns:
  • period -- Integer

Returns the period as set by SetColorCallbackPeriod[].

BrickletColor@SetColorCallbackThreshold[option, minR, maxR, minG, maxG, minB, maxB, minC, maxC] → Null
Parameters:
  • option -- Integer
  • minR -- Integer
  • maxR -- Integer
  • minG -- Integer
  • maxG -- Integer
  • minB -- Integer
  • maxB -- Integer
  • minC -- Integer
  • maxC -- Integer

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 default value is ('x', 0, 0, 0, 0, 0, 0, 0, 0).

The following constants are available for this function:

  • BrickletColor`THRESHOLDUOPTIONUOFF = ToCharacterCode["x"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUOUTSIDE = ToCharacterCode["o"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUINSIDE = ToCharacterCode["i"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUSMALLER = ToCharacterCode["<"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUGREATER = ToCharacterCode[">"][[0]]
BrickletColor@GetColorCallbackThreshold[out option, out minR, out maxR, out minG, out maxG, out minB, out maxB, out minC, out maxC] → Null
Parameters:
  • option -- Integer
  • minR -- Integer
  • maxR -- Integer
  • minG -- Integer
  • maxG -- Integer
  • minB -- Integer
  • maxB -- Integer
  • minC -- Integer
  • maxC -- Integer

Returns the threshold as set by SetColorCallbackThreshold[].

The following constants are available for this function:

  • BrickletColor`THRESHOLDUOPTIONUOFF = ToCharacterCode["x"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUOUTSIDE = ToCharacterCode["o"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUINSIDE = ToCharacterCode["i"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUSMALLER = ToCharacterCode["<"][[0]]
  • BrickletColor`THRESHOLDUOPTIONUGREATER = ToCharacterCode[">"][[0]]
BrickletColor@SetDebouncePeriod[debounce] → Null
Parameters:
  • debounce -- Integer

Sets the period in ms with which the threshold callback

is triggered, if the threshold

keeps being reached.

The default value is 100.

BrickletColor@GetDebouncePeriod[] → debounce
Returns:
  • debounce -- Integer

Returns the debounce period as set by SetDebouncePeriod[].

BrickletColor@SetIlluminanceCallbackPeriod[period] → Null
Parameters:
  • period -- Integer

Sets the period in ms 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.

The default value is 0.

BrickletColor@GetIlluminanceCallbackPeriod[] → period
Returns:
  • period -- Integer

Returns the period as set by SetIlluminanceCallbackPeriod[].

BrickletColor@SetColorTemperatureCallbackPeriod[period] → Null
Parameters:
  • period -- Integer

Sets the period in ms 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.

The default value is 0.

BrickletColor@GetColorTemperatureCallbackPeriod[] → period
Returns:
  • period -- Integer

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 by assigning a function to a callback property of the device object:

MyCallback[sender_,value_]:=Print["Value: "<>ToString[value]]

AddEventHandler[color@ExampleCallback,MyCallback]

For further information about event handling using .NET/Link see the corresponding Mathematica .NET/Link documentation.

The available callback property and their type of parameters 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.

event BrickletColor@ColorCallback[sender, r, g, b, c]
Parameters:
  • sender -- NETObject[BrickletColor]
  • r -- Integer
  • g -- Integer
  • b -- Integer
  • c -- Integer

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

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

event BrickletColor@ColorReachedCallback[sender, r, g, b, c]
Parameters:
  • sender -- NETObject[BrickletColor]
  • r -- Integer
  • g -- Integer
  • b -- Integer
  • c -- Integer

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[].

event BrickletColor@IlluminanceCallback[sender, illuminance]
Parameters:
  • sender -- NETObject[BrickletColor]
  • illuminance -- Integer

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.

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

event BrickletColor@ColorTemperatureCallback[sender, colorTemperature]
Parameters:
  • sender -- NETObject[BrickletColor]
  • colorTemperature -- Integer

This callback is triggered periodically with the period that is set by SetColorTemperatureCallbackPeriod[]. The parameter is the color temperature in Kelvin.

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

Constants

BrickletColor`DEVICEUIDENTIFIER

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.

BrickletColor`DEVICEDISPLAYNAME

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