Data Sheet

Sensor Documentation Modern Robotics, Inc.
Version 1.4.3 33
0
1
2
3
4
5
6
7
8
9
10
11
12
16
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
16
13
14
15
Color Number:
The color number register returns a single number representing the color estimate. The
number corresponds to the following figure.
Color Values:
The color values are returned separately as red, green, blue and white. The color value
is a measure of the current detection levels for each primary color.
Color Index Number:
The color index number is a single 6 bit number. Bits (5:4) encode the red signal level,
bits (3:2) encode the green signal level and bits (1:0) encode the blue signal levels.
D7
D6
D5
D4
D3
D2
D1
D0
0
0
Red 1
Red 0
Green 1
Green 0
Blue 1
Blue 0
Color Indexes:
The color index will return the current analog signal levels for red, green and blue
separately. The color with the greatest intensity is set as 0xFF while the other two colors
indexes are set as a proportion of 0xFF.
Color Readings:
The color reading registers return the current analog signal levels as 16 bits values for
red, green, blue and white.
Color Normalized Readings:
The color normalized readings will return the current levels for the color components
and white channel that are adjusted for gain and offset.