Visual Basic .NET - Color Bricklet

This is the description of the Visual Basic .NET 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 Visual Basic .NET API bindings is part of their general description.

Examples

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

Simple

Download (ExampleSimple.vb)

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Imports System
Imports Tinkerforge

Module ExampleSimple
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Color Bricklet

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim c As New BrickletColor(UID, ipcon) ' Create device object

        ipcon.Connect(HOST, PORT) ' Connect to brickd
        ' Don't use device before ipcon is connected

        ' Get current color
        Dim r, g, b, c_ As Integer

        c.GetColor(r, g, b, c_)

        Console.WriteLine("Color [R]: " + r.ToString())
        Console.WriteLine("Color [G]: " + g.ToString())
        Console.WriteLine("Color [B]: " + b.ToString())
        Console.WriteLine("Color [C]: " + c_.ToString())

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Callback

Download (ExampleCallback.vb)

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Imports System
Imports Tinkerforge

Module ExampleCallback
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Color Bricklet

    ' Callback subroutine for color callback
    Sub ColorCB(ByVal sender As BrickletColor, ByVal r As Integer, ByVal g As Integer, _
                ByVal b As Integer, ByVal c As Integer)
        Console.WriteLine("Color [R]: " + r.ToString())
        Console.WriteLine("Color [G]: " + g.ToString())
        Console.WriteLine("Color [B]: " + b.ToString())
        Console.WriteLine("Color [C]: " + c.ToString())
        Console.WriteLine("")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim c As New BrickletColor(UID, ipcon) ' Create device object

        ipcon.Connect(HOST, PORT) ' Connect to brickd
        ' Don't use device before ipcon is connected

        ' Register color callback to subroutine ColorCB
        AddHandler c.ColorCallback, AddressOf 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)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Threshold

Download (ExampleThreshold.vb)

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Imports System
Imports Tinkerforge

Module ExampleThreshold
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Color Bricklet

    ' Callback subroutine for color reached callback
    Sub ColorReachedCB(ByVal sender As BrickletColor, ByVal r As Integer, _
                       ByVal g As Integer, ByVal b As Integer, ByVal c As Integer)
        Console.WriteLine("Color [R]: " + r.ToString())
        Console.WriteLine("Color [G]: " + g.ToString())
        Console.WriteLine("Color [B]: " + b.ToString())
        Console.WriteLine("Color [C]: " + c.ToString())
        Console.WriteLine("")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim c As New BrickletColor(UID, ipcon) ' Create device object

        ipcon.Connect(HOST, PORT) ' Connect to brickd
        ' Don't use device before ipcon is connected

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

        ' Register color reached callback to subroutine ColorReachedCB
        AddHandler c.ColorReachedCallback, AddressOf ColorReachedCB

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

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

API

Since Visual Basic .NET does not support multiple return values directly, we use the ByRef keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions

Class BrickletColor(ByVal uid As String, ByVal ipcon As IPConnection)

Creates an object with the unique device ID uid:

Dim color As New BrickletColor("YOUR_DEVICE_UID", ipcon)

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

Sub BrickletColor.GetColor(ByRef r As Integer, ByRef g As Integer, ByRef b As Integer, ByRef c As 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().

Sub BrickletColor.LightOn()

Turns the LED on.

Sub BrickletColor.LightOff()

Turns the LED off.

Function BrickletColor.IsLightOn() As Byte

Returns the state of the LED. Possible values are:

  • 0: On
  • 1: Off

The following constants are available for this function:

  • BrickletColor.LIGHT_ON = 0
  • BrickletColor.LIGHT_OFF = 1
Sub BrickletColor.SetConfig(ByVal gain As Byte, ByVal integrationTime As Byte)

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.GAIN_1X = 0
  • BrickletColor.GAIN_4X = 1
  • BrickletColor.GAIN_16X = 2
  • BrickletColor.GAIN_60X = 3
  • BrickletColor.INTEGRATION_TIME_2MS = 0
  • BrickletColor.INTEGRATION_TIME_24MS = 1
  • BrickletColor.INTEGRATION_TIME_101MS = 2
  • BrickletColor.INTEGRATION_TIME_154MS = 3
  • BrickletColor.INTEGRATION_TIME_700MS = 4
Sub BrickletColor.GetConfig(ByRef gain As Byte, ByRef integrationTime As Byte)

Returns the configuration as set by SetConfig().

The following constants are available for this function:

  • BrickletColor.GAIN_1X = 0
  • BrickletColor.GAIN_4X = 1
  • BrickletColor.GAIN_16X = 2
  • BrickletColor.GAIN_60X = 3
  • BrickletColor.INTEGRATION_TIME_2MS = 0
  • BrickletColor.INTEGRATION_TIME_24MS = 1
  • BrickletColor.INTEGRATION_TIME_101MS = 2
  • BrickletColor.INTEGRATION_TIME_154MS = 3
  • BrickletColor.INTEGRATION_TIME_700MS = 4
Function BrickletColor.GetIlluminance() As Long

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().

Function BrickletColor.GetColorTemperature() As 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

Function BrickletColor.GetAPIVersion() As Byte()

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.

Function BrickletColor.GetResponseExpected(ByVal functionId As Byte) As Boolean

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.

Sub BrickletColor.SetResponseExpected(ByVal functionId As Byte, ByVal responseExpected As Boolean)

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.FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
  • BrickletColor.FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
  • BrickletColor.FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BrickletColor.FUNCTION_LIGHT_ON = 10
  • BrickletColor.FUNCTION_LIGHT_OFF = 11
  • BrickletColor.FUNCTION_SET_CONFIG = 13
  • BrickletColor.FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
  • BrickletColor.FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19
Sub BrickletColor.SetResponseExpectedAll(ByVal responseExpected As Boolean)

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

Sub BrickletColor.GetIdentity(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As 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

Sub BrickletColor.SetColorCallbackPeriod(ByVal period As Long)

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.

Function BrickletColor.GetColorCallbackPeriod() As Long

Returns the period as set by SetColorCallbackPeriod().

Sub BrickletColor.SetColorCallbackThreshold(ByVal option As Char, ByVal minR As Integer, ByVal maxR As Integer, ByVal minG As Integer, ByVal maxG As Integer, ByVal minB As Integer, ByVal maxB As Integer, ByVal minC As Integer, ByVal maxC As 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.THRESHOLD_OPTION_OFF = "x"C
  • BrickletColor.THRESHOLD_OPTION_OUTSIDE = "o"C
  • BrickletColor.THRESHOLD_OPTION_INSIDE = "i"C
  • BrickletColor.THRESHOLD_OPTION_SMALLER = "<"C
  • BrickletColor.THRESHOLD_OPTION_GREATER = ">"C
Sub BrickletColor.GetColorCallbackThreshold(ByRef option As Char, ByRef minR As Integer, ByRef maxR As Integer, ByRef minG As Integer, ByRef maxG As Integer, ByRef minB As Integer, ByRef maxB As Integer, ByRef minC As Integer, ByRef maxC As Integer)

Returns the threshold as set by SetColorCallbackThreshold().

The following constants are available for this function:

  • BrickletColor.THRESHOLD_OPTION_OFF = "x"C
  • BrickletColor.THRESHOLD_OPTION_OUTSIDE = "o"C
  • BrickletColor.THRESHOLD_OPTION_INSIDE = "i"C
  • BrickletColor.THRESHOLD_OPTION_SMALLER = "<"C
  • BrickletColor.THRESHOLD_OPTION_GREATER = ">"C
Sub BrickletColor.SetDebouncePeriod(ByVal debounce As Long)

Sets the period in ms with which the threshold callback

is triggered, if the threshold

keeps being reached.

The default value is 100.

Function BrickletColor.GetDebouncePeriod() As Long

Returns the debounce period as set by SetDebouncePeriod().

Sub BrickletColor.SetIlluminanceCallbackPeriod(ByVal period As Long)

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.

Function BrickletColor.GetIlluminanceCallbackPeriod() As Long

Returns the period as set by SetIlluminanceCallbackPeriod().

Sub BrickletColor.SetColorTemperatureCallbackPeriod(ByVal period As Long)

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.

Function BrickletColor.GetColorTemperatureCallbackPeriod() As Long

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 procedure to an callback property of the device object:

Sub MyCallback(ByVal sender As BrickletColor, ByVal value As Short)
    Console.WriteLine("Value: {0}", value)
End Sub

AddHandler color.ExampleCallback, AddressOf MyCallback

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(ByVal sender As BrickletColor, ByVal r As Integer, ByVal g As Integer, ByVal b As Integer, ByVal c As 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(ByVal sender As BrickletColor, ByVal r As Integer, ByVal g As Integer, ByVal b As Integer, ByVal c As 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(ByVal sender As BrickletColor, ByVal illuminance As Long)

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(ByVal sender As BrickletColor, ByVal colorTemperature As 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

Const BrickletColor.DEVICE_IDENTIFIER

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.

Const BrickletColor.DEVICE_DISPLAY_NAME

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