Getting Started

I2C Mode (Default)

The sensor works out of the box as an I2C color sensor, and it will emulate the behavior of the Rev Color Sensor V3. To read data via I2C, simply plug the sensor into an I2C port on the hub using a standard sensor wire and configure it as a "Rev Color Sensor V3." The code to read it will be the same as reading a normal color sensor.

A standard I2C read on the control hub will take upwards of 4 milliseconds. The Color Rangefinder supports I2C fast mode, which can improve this time slightly. In order to use I2C fast mode, there are some extra steps we have to take:

Standard

RevColorSensorV3 sensor = hardwareMap.get(RevColorSensorV3.class, "Color");

waitForStart();
while (opModeIsActive()) {
    // read all 3 color channels in one I2C transmission:
    NormalizedRGBA colors = sensor.getNormalizedColors();
    telemetry.addData("rgb: ", colors.red + " " + colors.blue + " " + colors.green);
    telemetry.update();
}

Fast Mode

RevColorSensorV3 sensor = hardwareMap.get(RevColorSensorV3.class, "Color");
// set the clock speed on this I2C bus to 400kHz:
((LynxI2cDeviceSynch) sensor.getDeviceClient()).setBusSpeed(LynxI2cDeviceSynch.BusSpeed.FAST_400K);

waitForStart();
while (opModeIsActive()) {
    // read all 3 color channels in one I2C transmission:
    NormalizedRGBA colors = sensor.getNormalizedColors();
    telemetry.addData("rgb: ", colors.red + " " + colors.blue + " " + colors.green);
    telemetry.update();
}

While fast mode will offer a marginal improvement over standard I2C, taking advantage of the configurability of this sensor will allow you to receive data over the much faster digital and analog ports.