@robotical/webapp-types 3.14.48 → 3.15.0

package/dist-types/src/wrapper-app/utils/ColourSensorManualCalibratorMarty.js

@@ -1,14 +1,3 @@
-var __assign = (this && this.__assign) || function () {
-    __assign = Object.assign || function(t) {
-        for (var s, i = 1, n = arguments.length; i < n; i++) {
-            s = arguments[i];
-            for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p))
-                t[p] = s[p];
-        }
-        return t;
-    };
-    return __assign.apply(this, arguments);
-};
 var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
     function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
     return new (P || (P = Promise))(function (resolve, reject) {
@@ -48,50 +37,138 @@ var __generator = (this && this.__generator) || function (thisArg, body) {
 import Logger from "../../services/logger/Logger";
 import { RICHWElemList_Str } from "@robotical/roboticaljs";
 import { RIC_WHOAMI_TYPE_CODE_ADDON_COLOUR } from "@robotical/ricjs-robotical-addons/dist/RICRoboticalAddOns";
+import { COLOUR_SENSOR_CALIBRATION_ERROR, COLOUR_SENSOR_CALIBRATION_STAGE, } from "../../types/colour-sensor-calibration";
+import { getIRFootAirReadingsFromStateInfo, } from "../../utils/helpers/ir-on-air";
 // colour sensor commands
-var GET_CALIBRATION_COMMAND = function (hwElemName) { return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=104020&numToRd=8&msgKey=1234"); };
-var GET_COLOUR_SENSOR_READING_COMMAND = function (hwElemName) { return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=&numToRd=5&msgKey=1"); };
-var CALIBRATE_COMMAND = function (hwElemName, baseAddr, highByte, lowByte, i) {
-    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=ff4040").concat(baseAddr.toString(16)).concat(highByte).concat(lowByte, "&numToRd=0&msgKey=11").concat(i);
+var GET_CALIBRATION_COMMAND = function (hwElemName, msgKey) {
+    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=104020&numToRd=8&msgKey=").concat(msgKey);
+};
+var GET_COLOUR_SENSOR_READING_COMMAND = function (hwElemName, msgKey) {
+    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=&numToRd=13&msgKey=").concat(msgKey);
+};
+var GET_OFFSET_COMMAND = function (hwElemName, msgKey) {
+    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=104018&numToRd=4&msgKey=").concat(msgKey);
 };
+var SET_OFFSET_COMMAND = function (hwElemName, clearHex, redHex, greenHex, blueHex, i) {
+    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=ff404018").concat(clearHex).concat(redHex).concat(greenHex).concat(blueHex, "&numToRd=0&msgKey=21").concat(i);
+};
+var SET_CALIBRATION_COMMAND = function (hwElemName, clearLow, redLow, greenLow, blueLow, i) {
+    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=ff40402000").concat(clearLow, "00").concat(redLow, "00").concat(greenLow, "00").concat(blueLow, "&numToRd=0&msgKey=11").concat(i);
+};
+var DEFAULT_PREFERRED_COLOUR_SENSOR_NAMES = ["LeftColorSensor", "coloursensor"];
 var MAX_CALIBRATION_ATTEMPTS = 5;
 var TOLERANCE = 3; // tolerance for difference between calibration values and colour sensor readings
+var PAUSE_AFTER_SET_MS = 3000;
+var POWER_ON_DELAY_MS = 3000;
+var REPORT_WAIT_TIMEOUT_MS = 1500;
 var SHOW_LOGS = true;
 var TAG = "ColourSensorManualCalibratorMarty";
 var ColourSensorManualCalibratorMarty = /** @class */ (function () {
     function ColourSensorManualCalibratorMarty() {
     }
-    ColourSensorManualCalibratorMarty.calibrate = function (raftConnector, retryTimes) {
+    ColourSensorManualCalibratorMarty.calibrate = function (raftConnector, stage, retryTimes) {
         if (retryTimes === void 0) { retryTimes = 0; }
         return __awaiter(this, void 0, void 0, function () {
-            var isSame, error_1;
+            var didCalibrate, error_1, errorMessage;
             return __generator(this, function (_a) {
                 switch (_a.label) {
                     case 0:
-                        Logger.info(SHOW_LOGS, TAG, "\n==== Calibration attempt ".concat(retryTimes + 1, " ===="));
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== Calibration ".concat(stage, " attempt ").concat(retryTimes + 1, " ===="));
+                        if (!stage) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Calibration stage missing");
+                            return [2 /*return*/, false];
+                        }
                         if (!this.prepareForCalibration(raftConnector)) {
                             return [2 /*return*/, false];
                         }
                         _a.label = 1;
                     case 1:
-                        _a.trys.push([1, 6, 7, 8]);
-                        return [4 /*yield*/, this.performCalibrationSequence()];
+                        _a.trys.push([1, 3, 4, 5]);
+                        return [4 /*yield*/, this.performCalibrationSequence(stage)];
                     case 2:
-                        if (!_a.sent()) return [3 /*break*/, 5];
-                        return [4 /*yield*/, this.compareCalibrationValues(this._calibrationValues, this._colourSensorReadings)];
+                        didCalibrate = _a.sent();
+                        if (didCalibrate) {
+                            return [2 /*return*/, true];
+                        }
+                        return [2 /*return*/, this.handleMaxAttempts(raftConnector, stage, retryTimes)];
                     case 3:
-                        isSame = _a.sent();
-                        return [4 /*yield*/, this.handleCalibrationOutcome(isSame, raftConnector, retryTimes)];
-                    case 4: return [2 /*return*/, _a.sent()];
-                    case 5: return [2 /*return*/, this.handleMaxAttempts(retryTimes, raftConnector)];
-                    case 6:
                         error_1 = _a.sent();
-                        Logger.error(SHOW_LOGS, TAG, "Error calibrating colour sensor: " + JSON.stringify(error_1));
+                        Logger.vipLog(SHOW_LOGS, TAG, "Error calibrating colour sensor: " + JSON.stringify(error_1));
+                        errorMessage = error_1 instanceof Error ? error_1.message : String(error_1);
+                        if (errorMessage === COLOUR_SENSOR_CALIBRATION_ERROR.NOT_IN_AIR) {
+                            throw new Error(errorMessage);
+                        }
                         return [2 /*return*/, false];
+                    case 4:
+                        this._isCalibrating = false;
+                        return [7 /*endfinally*/];
+                    case 5: return [2 /*return*/];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.resetOffsets = function (raftConnector) {
+        return __awaiter(this, void 0, void 0, function () {
+            var names, zeroValues, _i, names_1, name_1, cleared, offsetValues, didMatch, error_2;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== Resetting colour sensor offsets ====");
+                        if (!this.prepareForCalibration(raftConnector)) {
+                            return [2 /*return*/, false];
+                        }
+                        _a.label = 1;
+                    case 1:
+                        _a.trys.push([1, 8, 9, 10]);
+                        return [4 /*yield*/, this.getColourSensorNames()];
+                    case 2:
+                        names = _a.sent();
+                        names = this.selectPreferredColourSensorNames(names);
+                        if (names.length === 0) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "No colour sensors found to reset");
+                            return [2 /*return*/, false];
+                        }
+                        return [4 /*yield*/, this.turnOnServosIfRequired(names)];
+                    case 3:
+                        _a.sent();
+                        return [4 /*yield*/, this.ensureColourSensorPowerOn(false)];
+                    case 4:
+                        _a.sent();
+                        zeroValues = {};
+                        for (_i = 0, names_1 = names; _i < names_1.length; _i++) {
+                            name_1 = names_1[_i];
+                            zeroValues[name_1] = { clear: 0, red: 0, green: 0, blue: 0 };
+                        }
+                        return [4 /*yield*/, this.setOffsets(zeroValues)];
+                    case 5:
+                        cleared = _a.sent();
+                        if (!cleared) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to clear offsets during reset");
+                            return [2 /*return*/, false];
+                        }
+                        return [4 /*yield*/, this.wait(PAUSE_AFTER_SET_MS)];
+                    case 6:
+                        _a.sent();
+                        return [4 /*yield*/, this.getOffsetValues(names)];
                     case 7:
+                        offsetValues = _a.sent();
+                        if (!offsetValues) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to read offsets after reset");
+                            return [2 /*return*/, false];
+                        }
+                        didMatch = this.compareValues(zeroValues, offsetValues, 0);
+                        if (didMatch) {
+                            this._recentOffsetResetAt = Date.now();
+                        }
+                        return [2 /*return*/, didMatch];
+                    case 8:
+                        error_2 = _a.sent();
+                        Logger.vipLog(SHOW_LOGS, TAG, "Error resetting colour sensor offsets: " + JSON.stringify(error_2));
+                        return [2 /*return*/, false];
+                    case 9:
                         this._isCalibrating = false;
                         return [7 /*endfinally*/];
-                    case 8: return [2 /*return*/];
+                    case 10: return [2 /*return*/];
                 }
             });
         });
@@ -104,117 +181,110 @@ var ColourSensorManualCalibratorMarty = /** @class */ (function () {
         this._isCalibrating = true;
         return true;
     };
-    ColourSensorManualCalibratorMarty.performCalibrationSequence = function () {
+    ColourSensorManualCalibratorMarty.performCalibrationSequence = function (stage) {
         return __awaiter(this, void 0, void 0, function () {
-            var names, calibration1Success, csReadingSuccess, calibration2Success;
+            var names;
             return __generator(this, function (_a) {
                 switch (_a.label) {
                     case 0: return [4 /*yield*/, this.getColourSensorNames()];
                     case 1:
                         names = _a.sent();
+                        names = this.selectPreferredColourSensorNames(names);
+                        if (names.length === 0) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "No colour sensors found to calibrate");
+                            return [2 /*return*/, false];
+                        }
                         return [4 /*yield*/, this.turnOnServosIfRequired(names)];
                     case 2:
                         _a.sent();
-                        return [4 /*yield*/, this.getCalibration(names)];
-                    case 3:
-                        calibration1Success = _a.sent();
-                        return [4 /*yield*/, this.getColourSensorReading(names)];
+                        if (!(stage === COLOUR_SENSOR_CALIBRATION_STAGE.OFFSET)) return [3 /*break*/, 4];
+                        return [4 /*yield*/, this.calibrateOffsets(names)];
+                    case 3: return [2 /*return*/, _a.sent()];
                     case 4:
-                        csReadingSuccess = _a.sent();
-                        return [4 /*yield*/, this.getCalibration(names)];
-                    case 5:
-                        calibration2Success = _a.sent();
-                        return [2 /*return*/, calibration1Success && csReadingSuccess && calibration2Success];
+                        if (!(stage === COLOUR_SENSOR_CALIBRATION_STAGE.WHITE)) return [3 /*break*/, 6];
+                        return [4 /*yield*/, this.calibrateWhite(names)];
+                    case 5: return [2 /*return*/, _a.sent()];
+                    case 6:
+                        Logger.vipLog(SHOW_LOGS, TAG, "Unknown calibration stage: ".concat(stage));
+                        return [2 /*return*/, false];
                 }
             });
         });
     };
-    ColourSensorManualCalibratorMarty.handleCalibrationOutcome = function (isSame, raftConnector, retryTimes) {
-        return __awaiter(this, void 0, void 0, function () {
-            return __generator(this, function (_a) {
-                if (isSame) {
-                    return [2 /*return*/, true];
-                }
-                this._isCalibrating = false;
-                return [2 /*return*/, this.handleMaxAttempts(retryTimes, raftConnector)];
-            });
-        });
+    ColourSensorManualCalibratorMarty.selectPreferredColourSensorNames = function (names) {
+        var preferred = DEFAULT_PREFERRED_COLOUR_SENSOR_NAMES.map(function (name) { return name.toLowerCase(); });
+        var matches = names.filter(function (name) { return preferred.includes(name.toLowerCase()); });
+        return matches.length > 0 ? matches : names;
     };
-    ColourSensorManualCalibratorMarty.handleMaxAttempts = function (retryTimes, raftConnector) {
+    ColourSensorManualCalibratorMarty.handleMaxAttempts = function (raftConnector, stage, retryTimes) {
         return __awaiter(this, void 0, void 0, function () {
             return __generator(this, function (_a) {
                 switch (_a.label) {
                     case 0:
                         if (retryTimes >= MAX_CALIBRATION_ATTEMPTS) {
-                            Logger.error(SHOW_LOGS, TAG, "Max calibration attempts reached");
+                            Logger.vipLog(SHOW_LOGS, TAG, "Max calibration attempts reached");
                             return [2 /*return*/, false];
                         }
                         this._isCalibrating = false;
-                        return [4 /*yield*/, this.calibrate(raftConnector, retryTimes + 1)];
+                        return [4 /*yield*/, this.calibrate(raftConnector, stage, retryTimes + 1)];
                     case 1: return [2 /*return*/, _a.sent()];
                 }
             });
         });
     };
     ColourSensorManualCalibratorMarty.almostEqual = function (v1, v2, tolerance) {
-        if (tolerance === void 0) { tolerance = TOLERANCE; }
         return Math.abs(v1 - v2) <= tolerance;
     };
-    ColourSensorManualCalibratorMarty.compareCalibrationValues = function (expected, actual) {
-        return __awaiter(this, void 0, void 0, function () {
-            var expectedKeys, actualKeys, _i, expectedKeys_1, key, expectedValue, actualValue;
-            return __generator(this, function (_a) {
-                Logger.info(SHOW_LOGS, TAG, "\n==== Comparing calibration values ====");
-                Logger.info(SHOW_LOGS, TAG, "CalibrationValues: " + JSON.stringify(this._calibrationValues));
-                Logger.info(SHOW_LOGS, TAG, "ColourSensorReadings: " + JSON.stringify(this._colourSensorReadings));
-                if (expected === null || actual === null) {
-                    return [2 /*return*/, false];
-                }
-                expectedKeys = Object.keys(expected);
-                actualKeys = Object.keys(actual);
-                if (expectedKeys.length !== actualKeys.length) {
-                    return [2 /*return*/, false];
-                }
-                for (_i = 0, expectedKeys_1 = expectedKeys; _i < expectedKeys_1.length; _i++) {
-                    key = expectedKeys_1[_i];
-                    if (!actualKeys.includes(key)) {
-                        return [2 /*return*/, false];
-                    }
-                    expectedValue = expected[key];
-                    actualValue = actual[key];
-                    if (!this.almostEqual(expectedValue.clear, actualValue.clear)) {
-                        return [2 /*return*/, false];
-                    }
-                    if (!this.almostEqual(expectedValue.red, actualValue.red)) {
-                        return [2 /*return*/, false];
-                    }
-                    if (!this.almostEqual(expectedValue.green, actualValue.green)) {
-                        return [2 /*return*/, false];
-                    }
-                    if (!this.almostEqual(expectedValue.blue, actualValue.blue)) {
-                        return [2 /*return*/, false];
-                    }
-                }
-                return [2 /*return*/, true];
-            });
-        });
+    ColourSensorManualCalibratorMarty.compareValues = function (expected, actual, tolerance) {
+        Logger.vipLog(SHOW_LOGS, TAG, "\n==== Comparing values ====");
+        Logger.vipLog(SHOW_LOGS, TAG, "Expected: " + JSON.stringify(expected));
+        Logger.vipLog(SHOW_LOGS, TAG, "Actual: " + JSON.stringify(actual));
+        if (expected === null || actual === null) {
+            return false;
+        }
+        var expectedKeys = Object.keys(expected);
+        var actualKeys = Object.keys(actual);
+        if (expectedKeys.length !== actualKeys.length) {
+            return false;
+        }
+        for (var _i = 0, expectedKeys_1 = expectedKeys; _i < expectedKeys_1.length; _i++) {
+            var key = expectedKeys_1[_i];
+            if (!actualKeys.includes(key)) {
+                return false;
+            }
+            var expectedValue = expected[key];
+            var actualValue = actual[key];
+            if (!this.almostEqual(expectedValue.clear, actualValue.clear, tolerance)) {
+                return false;
+            }
+            if (!this.almostEqual(expectedValue.red, actualValue.red, tolerance)) {
+                return false;
+            }
+            if (!this.almostEqual(expectedValue.green, actualValue.green, tolerance)) {
+                return false;
+            }
+            if (!this.almostEqual(expectedValue.blue, actualValue.blue, tolerance)) {
+                return false;
+            }
+        }
+        return true;
     };
     ColourSensorManualCalibratorMarty.turnOnServosIfRequired = function (names) {
         var _a;
         return __awaiter(this, void 0, void 0, function () {
-            var _i, names_1, name_1, hwElemList, hwElem;
+            var _i, names_2, name_2, hwElemList, hwElem;
             return __generator(this, function (_b) {
                 switch (_b.label) {
                     case 0:
                         if (names.length === 0)
                             return [2 /*return*/];
-                        _i = 0, names_1 = names;
+                        _i = 0, names_2 = names;
                         _b.label = 1;
                     case 1:
-                        if (!(_i < names_1.length)) return [3 /*break*/, 8];
-                        name_1 = names_1[_i];
+                        if (!(_i < names_2.length)) return [3 /*break*/, 8];
+                        name_2 = names_2[_i];
                         return [4 /*yield*/, this._raftConnector.getRaftMsgHandler()
-                                .sendRICRESTURL("hwstatus/status/".concat(name_1))];
+                                .sendRICRESTURL("hwstatus/status/".concat(name_2))];
                     case 2:
                         hwElemList = _b.sent();
                         if (!((hwElemList === null || hwElemList === void 0 ? void 0 : hwElemList.rslt) === "ok" && ((_a = hwElemList.hw) === null || _a === void 0 ? void 0 : _a.length) > 0)) return [3 /*break*/, 5];
@@ -223,11 +293,11 @@ var ColourSensorManualCalibratorMarty = /** @class */ (function () {
                         return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL("pwrctrl/5von")];
                     case 3:
                         _b.sent();
-                        return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 4000); })];
+                        return [4 /*yield*/, this.wait(4000)];
                     case 4:
                         _b.sent();
                         return [2 /*return*/];
-                    case 5: return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 200); })];
+                    case 5: return [4 /*yield*/, this.wait(200)];
                     case 6:
                         _b.sent();
                         _b.label = 7;
@@ -239,6 +309,114 @@ var ColourSensorManualCalibratorMarty = /** @class */ (function () {
             });
         });
     };
+    ColourSensorManualCalibratorMarty.getIRFootAirReadings = function () {
+        var _a;
+        var systemType = this._raftConnector.getSystemType();
+        var stateInfo = (_a = systemType === null || systemType === void 0 ? void 0 : systemType.getStateInfo) === null || _a === void 0 ? void 0 : _a.call(systemType);
+        return getIRFootAirReadingsFromStateInfo(stateInfo);
+    };
+    ColourSensorManualCalibratorMarty.toHexByte = function (value) {
+        return (value & 0xff).toString(16).padStart(2, "0");
+    };
+    ColourSensorManualCalibratorMarty.validateCalibrationByte = function (value, label, sensorName) {
+        if (!Number.isFinite(value) || value < 0 || value > 255) {
+            Logger.vipLog(SHOW_LOGS, TAG, "Invalid calibration value for ".concat(sensorName, " ").concat(label, ": ").concat(value, " (expected 0-255)"));
+            return false;
+        }
+        return true;
+    };
+    ColourSensorManualCalibratorMarty.collectReports = function (names, reportKey, commandFactory) {
+        return __awaiter(this, void 0, void 0, function () {
+            var reportsByElem, expectedMsgKeys, reportMsgKeyBase, expectedCount, isResolved, timeoutId, resolveReports, finish, maybeFinish, reportsPromise, index, hwElemName, msgKey, command, reports;
+            var _this = this;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        if (names.length === 0) {
+                            return [2 /*return*/, []];
+                        }
+                        reportsByElem = new Map();
+                        expectedMsgKeys = new Map();
+                        reportMsgKeyBase = this.nextReportMsgKeyBase(names.length);
+                        expectedCount = names.length;
+                        isResolved = false;
+                        timeoutId = null;
+                        resolveReports = null;
+                        finish = function (reports) {
+                            if (isResolved) {
+                                return;
+                            }
+                            isResolved = true;
+                            if (timeoutId) {
+                                clearTimeout(timeoutId);
+                            }
+                            resolveReports === null || resolveReports === void 0 ? void 0 : resolveReports(reports);
+                        };
+                        maybeFinish = function () {
+                            if (reportsByElem.size >= expectedCount) {
+                                finish(Array.from(reportsByElem.values()));
+                            }
+                        };
+                        reportsPromise = new Promise(function (resolve) {
+                            resolveReports = resolve;
+                            timeoutId = setTimeout(function () {
+                                finish(Array.from(reportsByElem.values()));
+                            }, REPORT_WAIT_TIMEOUT_MS);
+                        });
+                        this._raftConnector.getRaftMsgHandler().reportMsgCallbacksSet(reportKey, function (report) { return __awaiter(_this, void 0, void 0, function () {
+                            var elemName, msgKey, expectedMsgKey;
+                            var _a;
+                            return __generator(this, function (_b) {
+                                elemName = report.elemName;
+                                msgKey = (_a = report.msgKey) === null || _a === void 0 ? void 0 : _a.toString();
+                                if (!elemName || !msgKey) {
+                                    return [2 /*return*/];
+                                }
+                                expectedMsgKey = expectedMsgKeys.get(elemName);
+                                if (!expectedMsgKey || expectedMsgKey !== msgKey) {
+                                    return [2 /*return*/];
+                                }
+                                if (!reportsByElem.has(elemName)) {
+                                    reportsByElem.set(elemName, report);
+                                    maybeFinish();
+                                }
+                                Logger.vipLog(SHOW_LOGS, TAG, "Report callback ".concat(JSON.stringify(report)));
+                                return [2 /*return*/];
+                            });
+                        }); });
+                        index = 0;
+                        _a.label = 1;
+                    case 1:
+                        if (!(index < names.length)) return [3 /*break*/, 4];
+                        hwElemName = names[index];
+                        msgKey = reportMsgKeyBase + index;
+                        expectedMsgKeys.set(hwElemName, msgKey.toString());
+                        command = commandFactory(hwElemName, msgKey);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
+                    case 2:
+                        _a.sent();
+                        _a.label = 3;
+                    case 3:
+                        index += 1;
+                        return [3 /*break*/, 1];
+                    case 4: return [4 /*yield*/, reportsPromise];
+                    case 5:
+                        reports = _a.sent();
+                        this._raftConnector.getRaftMsgHandler().reportMsgCallbacksDelete(reportKey);
+                        return [2 /*return*/, reports];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.nextReportMsgKeyBase = function (requestCount) {
+        var base = this._reportMsgKeyCounter;
+        var increment = Math.max(1, requestCount);
+        this._reportMsgKeyCounter += increment;
+        if (this._reportMsgKeyCounter >= 60000) {
+            this._reportMsgKeyCounter = 1000;
+        }
+        return base;
+    };
     ColourSensorManualCalibratorMarty.getColourSensorNames = function () {
         var _a;
         return __awaiter(this, void 0, void 0, function () {
@@ -246,7 +424,7 @@ var ColourSensorManualCalibratorMarty = /** @class */ (function () {
             return __generator(this, function (_c) {
                 switch (_c.label) {
                     case 0:
-                        Logger.info(SHOW_LOGS, TAG, "\n==== getColourSensorNames ====");
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== getColourSensorNames ====");
                         names = [];
                         _c.label = 1;
                     case 1:
@@ -275,196 +453,353 @@ var ColourSensorManualCalibratorMarty = /** @class */ (function () {
                                 names.push(hwElem.name);
                             }
                         }
-                        Logger.info(SHOW_LOGS, TAG, "Colour sensor names: " + JSON.stringify(names));
+                        Logger.vipLog(SHOW_LOGS, TAG, "Colour sensor names: " + JSON.stringify(names));
                         return [2 /*return*/, names];
                     case 6:
                         e_1 = _c.sent();
-                        new Error("Error getting colour sensor names: " + JSON.stringify(e_1));
+                        Logger.vipLog(SHOW_LOGS, TAG, "Error getting colour sensor names: " + JSON.stringify(e_1));
                         return [2 /*return*/, []];
                     case 7: return [2 /*return*/];
                 }
             });
         });
     };
-    ColourSensorManualCalibratorMarty.getCalibration = function (names) {
+    ColourSensorManualCalibratorMarty.getCalibrationValues = function (names) {
         return __awaiter(this, void 0, void 0, function () {
-            var REPORT_MSG_KEY, reports, _i, names_2, hwElemName, command, _a, reports_1, report, dataRead, clear, red, green, blue;
-            var _b;
-            var _this = this;
-            return __generator(this, function (_c) {
-                switch (_c.label) {
+            var reports, values, _i, reports_1, report, dataRead, clear, red, green, blue;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
                     case 0:
-                        Logger.info(SHOW_LOGS, TAG, "\n==== getCalibration ====");
-                        REPORT_MSG_KEY = "GET_CALIBRATION";
-                        reports = [];
-                        this._raftConnector.getRaftMsgHandler().reportMsgCallbacksSet(REPORT_MSG_KEY, function (report) { return __awaiter(_this, void 0, void 0, function () {
-                            return __generator(this, function (_a) {
-                                reports.push(report);
-                                Logger.debug(SHOW_LOGS, TAG, "Report callback ".concat(JSON.stringify(report)));
-                                return [2 /*return*/];
-                            });
-                        }); });
-                        _i = 0, names_2 = names;
-                        _c.label = 1;
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== getCalibration ====");
+                        return [4 /*yield*/, this.collectReports(names, "GET_CALIBRATION", GET_CALIBRATION_COMMAND)];
                     case 1:
-                        if (!(_i < names_2.length)) return [3 /*break*/, 4];
-                        hwElemName = names_2[_i];
-                        command = GET_CALIBRATION_COMMAND(hwElemName);
-                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
-                    case 2:
-                        _c.sent();
-                        _c.label = 3;
-                    case 3:
-                        _i++;
-                        return [3 /*break*/, 1];
-                    case 4: 
-                    // Wait for report messages to be received
-                    return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 2000); })];
-                    case 5:
-                        // Wait for report messages to be received
-                        _c.sent();
-                        this._raftConnector.getRaftMsgHandler().reportMsgCallbacksDelete(REPORT_MSG_KEY);
+                        reports = _a.sent();
                         if (reports.length === 0) {
-                            Logger.info(SHOW_LOGS, TAG, "No reports received");
-                            return [2 /*return*/, false];
+                            Logger.vipLog(SHOW_LOGS, TAG, "No reports received");
+                            return [2 /*return*/, null];
                         }
-                        // Process reports
-                        for (_a = 0, reports_1 = reports; _a < reports_1.length; _a++) {
-                            report = reports_1[_a];
+                        values = {};
+                        for (_i = 0, reports_1 = reports; _i < reports_1.length; _i++) {
+                            report = reports_1[_i];
                             if (report.hexRd && report.elemName) {
                                 dataRead = report.hexRd;
                                 clear = parseInt(dataRead.slice(0, 4), 16);
                                 red = parseInt(dataRead.slice(4, 8), 16);
                                 green = parseInt(dataRead.slice(8, 12), 16);
                                 blue = parseInt(dataRead.slice(12, 16), 16);
-                                Logger.info(SHOW_LOGS, TAG, "Calibration Report -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
-                                this._calibrationValues = __assign(__assign({}, this._calibrationValues), (_b = {}, _b[report.elemName] = { clear: clear, red: red, green: green, blue: blue }, _b));
+                                Logger.vipLog(SHOW_LOGS, TAG, "Calibration Report -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
+                                values[report.elemName] = { clear: clear, red: red, green: green, blue: blue };
                             }
                         }
-                        return [2 /*return*/, true];
+                        return [2 /*return*/, Object.keys(values).length ? values : null];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.getOffsetValues = function (names) {
+        return __awaiter(this, void 0, void 0, function () {
+            var reports, values, _i, reports_2, report, dataRead, clear, red, green, blue;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== getOffsetValues ====");
+                        return [4 /*yield*/, this.collectReports(names, "GET_OFFSET", GET_OFFSET_COMMAND)];
+                    case 1:
+                        reports = _a.sent();
+                        if (reports.length === 0) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "No reports received");
+                            return [2 /*return*/, null];
+                        }
+                        values = {};
+                        for (_i = 0, reports_2 = reports; _i < reports_2.length; _i++) {
+                            report = reports_2[_i];
+                            if (report.hexRd && report.elemName) {
+                                dataRead = report.hexRd;
+                                clear = parseInt(dataRead.slice(0, 2), 16);
+                                red = parseInt(dataRead.slice(2, 4), 16);
+                                green = parseInt(dataRead.slice(4, 6), 16);
+                                blue = parseInt(dataRead.slice(6, 8), 16);
+                                Logger.vipLog(SHOW_LOGS, TAG, "Offset Report -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
+                                values[report.elemName] = { clear: clear, red: red, green: green, blue: blue };
+                            }
+                        }
+                        return [2 /*return*/, Object.keys(values).length ? values : null];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.getColourSensorReadings = function (names) {
+        return __awaiter(this, void 0, void 0, function () {
+            var reports, readings, _i, reports_3, report, dataRead, clear, red, green, blue;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== getColourSensorReading ====");
+                        return [4 /*yield*/, this.collectReports(names, "GET_COLOUR_SENSOR_READING", GET_COLOUR_SENSOR_READING_COMMAND)];
+                    case 1:
+                        reports = _a.sent();
+                        if (reports.length === 0) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "No reports received");
+                            return [2 /*return*/, null];
+                        }
+                        readings = {};
+                        for (_i = 0, reports_3 = reports; _i < reports_3.length; _i++) {
+                            report = reports_3[_i];
+                            if (report.hexRd && report.elemName) {
+                                dataRead = report.hexRd;
+                                clear = parseInt(dataRead.slice(2, 4), 16);
+                                red = parseInt(dataRead.slice(4, 6), 16);
+                                green = parseInt(dataRead.slice(6, 8), 16);
+                                blue = parseInt(dataRead.slice(8, 10), 16);
+                                Logger.vipLog(SHOW_LOGS, TAG, "getColourSensorReading -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
+                                readings[report.elemName] = { clear: clear, red: red, green: green, blue: blue };
+                            }
+                        }
+                        return [2 /*return*/, Object.keys(readings).length ? readings : null];
                 }
             });
         });
     };
-    ColourSensorManualCalibratorMarty.getColourSensorReading = function (names) {
+    ColourSensorManualCalibratorMarty.setOffsets = function (values, delayMs) {
+        if (delayMs === void 0) { delayMs = 0; }
         return __awaiter(this, void 0, void 0, function () {
-            var REPORT_MSG_KEY, reports, _i, names_3, hwElemName, command, _a, reports_2, report, dataRead, clear, red, green, blue;
-            var _b;
+            var index, _i, _a, _b, name_3, channels, clearHex, redHex, greenHex, blueHex, command, rslt;
             return __generator(this, function (_c) {
                 switch (_c.label) {
                     case 0:
-                        REPORT_MSG_KEY = "GET_COLOUR_SENSOR_READING";
-                        Logger.info(SHOW_LOGS, TAG, "\n==== getColourSensorReading ====");
-                        reports = [];
-                        this._raftConnector.getRaftMsgHandler()
-                            .reportMsgCallbacksSet(REPORT_MSG_KEY, function (report) {
-                            return __awaiter(this, void 0, void 0, function () {
-                                return __generator(this, function (_a) {
-                                    reports.push(report);
-                                    Logger.debug(SHOW_LOGS, TAG, "getHWElemCB Report callback ".concat(JSON.stringify(report)));
-                                    return [2 /*return*/];
-                                });
-                            });
-                        });
-                        _i = 0, names_3 = names;
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== setOffsets ====");
+                        index = 0;
+                        _i = 0, _a = Object.entries(values);
                         _c.label = 1;
                     case 1:
-                        if (!(_i < names_3.length)) return [3 /*break*/, 4];
-                        hwElemName = names_3[_i];
-                        command = GET_COLOUR_SENSOR_READING_COMMAND(hwElemName);
+                        if (!(_i < _a.length)) return [3 /*break*/, 5];
+                        _b = _a[_i], name_3 = _b[0], channels = _b[1];
+                        Logger.vipLog(SHOW_LOGS, TAG, "Setting offset for ".concat(name_3, " to clear: ").concat(channels.clear, " red: ").concat(channels.red, " green: ").concat(channels.green, " blue: ").concat(channels.blue));
+                        clearHex = this.toHexByte(channels.clear);
+                        redHex = this.toHexByte(channels.red);
+                        greenHex = this.toHexByte(channels.green);
+                        blueHex = this.toHexByte(channels.blue);
+                        command = SET_OFFSET_COMMAND(name_3, clearHex, redHex, greenHex, blueHex, index);
                         return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
                     case 2:
+                        rslt = _c.sent();
+                        if (rslt.rslt !== "ok") {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Error setting offset");
+                            return [2 /*return*/, false];
+                        }
+                        index += 1;
+                        if (!(delayMs > 0)) return [3 /*break*/, 4];
+                        return [4 /*yield*/, this.wait(delayMs)];
+                    case 3:
                         _c.sent();
+                        _c.label = 4;
+                    case 4:
+                        _i++;
+                        return [3 /*break*/, 1];
+                    case 5: return [2 /*return*/, true];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.setCalibrationValues = function (values) {
+        return __awaiter(this, void 0, void 0, function () {
+            var index, _i, _a, _b, name_4, reading, didSet;
+            return __generator(this, function (_c) {
+                switch (_c.label) {
+                    case 0:
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== setCalibrationValues ====");
+                        index = 0;
+                        _i = 0, _a = Object.entries(values);
+                        _c.label = 1;
+                    case 1:
+                        if (!(_i < _a.length)) return [3 /*break*/, 4];
+                        _b = _a[_i], name_4 = _b[0], reading = _b[1];
+                        return [4 /*yield*/, this.setCalibrationForSensor(name_4, reading, index)];
+                    case 2:
+                        didSet = _c.sent();
+                        if (!didSet) {
+                            return [2 /*return*/, false];
+                        }
+                        index += 1;
                         _c.label = 3;
                     case 3:
                         _i++;
                         return [3 /*break*/, 1];
-                    case 4: 
-                    // wait a couple of seconds for any report messages to be received
-                    return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 2000); })];
+                    case 4: return [2 /*return*/, true];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.setCalibrationForSensor = function (name, reading, index) {
+        return __awaiter(this, void 0, void 0, function () {
+            var clearLow, redLow, greenLow, blueLow, command, rslt;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== setCalibrationForSensor ====");
+                        Logger.vipLog(SHOW_LOGS, TAG, "Setting calibration to clear: ".concat(reading.clear, " red: ").concat(reading.red, " green: ").concat(reading.green, " blue: ").concat(reading.blue));
+                        if (!this.validateCalibrationByte(reading.clear, "clear", name) ||
+                            !this.validateCalibrationByte(reading.red, "red", name) ||
+                            !this.validateCalibrationByte(reading.green, "green", name) ||
+                            !this.validateCalibrationByte(reading.blue, "blue", name)) {
+                            return [2 /*return*/, false];
+                        }
+                        clearLow = this.toHexByte(reading.clear);
+                        redLow = this.toHexByte(reading.red);
+                        greenLow = this.toHexByte(reading.green);
+                        blueLow = this.toHexByte(reading.blue);
+                        command = SET_CALIBRATION_COMMAND(name, clearLow, redLow, greenLow, blueLow, index);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
+                    case 1:
+                        rslt = _a.sent();
+                        if (rslt.rslt !== "ok") {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Error setting calibration");
+                            return [2 /*return*/, false];
+                        }
+                        Logger.vipLog(SHOW_LOGS, TAG, "Calibration completed successfully.");
+                        return [2 /*return*/, true];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.calibrateOffsets = function (names) {
+        return __awaiter(this, void 0, void 0, function () {
+            var now, skipReset, zeroValues, _i, names_3, name_5, cleared, readings, setOffsets, offsetValues;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== calibrateOffsets ====");
+                        return [4 /*yield*/, this.ensureColourSensorPowerOn(false)];
+                    case 1:
+                        _a.sent();
+                        now = Date.now();
+                        skipReset = this._recentOffsetResetAt !== null
+                            && now - this._recentOffsetResetAt <= this.OFFSET_RESET_WINDOW_MS;
+                        this._recentOffsetResetAt = null;
+                        if (!!skipReset) return [3 /*break*/, 3];
+                        zeroValues = {};
+                        for (_i = 0, names_3 = names; _i < names_3.length; _i++) {
+                            name_5 = names_3[_i];
+                            zeroValues[name_5] = { clear: 0, red: 0, green: 0, blue: 0 };
+                        }
+                        return [4 /*yield*/, this.setOffsets(zeroValues, 0)];
+                    case 2:
+                        cleared = _a.sent();
+                        if (!cleared) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to clear offsets");
+                            return [2 /*return*/, false];
+                        }
+                        _a.label = 3;
+                    case 3: return [4 /*yield*/, this.getColourSensorReadings(names)];
+                    case 4:
+                        readings = _a.sent();
+                        if (!readings) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to read colour sensor for offset calibration");
+                            return [2 /*return*/, false];
+                        }
+                        return [4 /*yield*/, this.setOffsets(readings, 0)];
                     case 5:
-                        // wait a couple of seconds for any report messages to be received
-                        _c.sent();
-                        // remove report callback
-                        this._raftConnector
-                            .getRaftMsgHandler()
-                            .reportMsgCallbacksDelete(REPORT_MSG_KEY);
-                        if (reports.length === 0) {
-                            Logger.info(SHOW_LOGS, TAG, "No reports received");
+                        setOffsets = _a.sent();
+                        if (!setOffsets) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to set offsets");
                             return [2 /*return*/, false];
                         }
-                        _a = 0, reports_2 = reports;
-                        _c.label = 6;
+                        return [4 /*yield*/, this.wait(PAUSE_AFTER_SET_MS)];
                     case 6:
-                        if (!(_a < reports_2.length)) return [3 /*break*/, 9];
-                        report = reports_2[_a];
-                        if (!(report.hexRd && report.elemName)) return [3 /*break*/, 8];
-                        dataRead = report.hexRd;
-                        clear = parseInt(dataRead.slice(2, 4), 16);
-                        red = parseInt(dataRead.slice(4, 6), 16);
-                        green = parseInt(dataRead.slice(6, 8), 16);
-                        blue = parseInt(dataRead.slice(8, 10), 16);
-                        // Logger.info(SHOW_LOGS, TAG, "getColourSensorReading", "clear", clear, "red", red, "green", green, "blue", blue);
-                        Logger.info(SHOW_LOGS, TAG, "getColourSensorReading -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
-                        this._colourSensorReadings = __assign(__assign({}, this._colourSensorReadings), (_b = {}, _b[report.elemName] = { clear: clear, red: red, green: green, blue: blue }, _b));
-                        return [4 /*yield*/, this.calibrateCS(report.elemName, { clear: clear, red: red, green: green, blue: blue })];
+                        _a.sent();
+                        return [4 /*yield*/, this.getOffsetValues(names)];
                     case 7:
-                        if (!(_c.sent())) {
+                        offsetValues = _a.sent();
+                        if (!offsetValues) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to read offsets");
                             return [2 /*return*/, false];
                         }
-                        _c.label = 8;
-                    case 8:
-                        _a++;
-                        return [3 /*break*/, 6];
-                    case 9: return [2 /*return*/, true];
+                        return [2 /*return*/, this.compareValues(readings, offsetValues, 0)];
                 }
             });
         });
     };
-    ColourSensorManualCalibratorMarty.calibrateCS = function (name, reading) {
+    ColourSensorManualCalibratorMarty.calibrateWhite = function (names) {
         return __awaiter(this, void 0, void 0, function () {
-            var baseAddr, channels, i, channel, highByte, lowByte, command, rslt;
+            var readings, didCalibrate, calibrationValues;
             return __generator(this, function (_a) {
                 switch (_a.label) {
                     case 0:
-                        Logger.info(SHOW_LOGS, TAG, "\n==== calibrateCS ====");
-                        baseAddr = 0x20;
-                        channels = [reading.clear, reading.red, reading.green, reading.blue];
-                        i = 0;
-                        _a.label = 1;
+                        Logger.vipLog(SHOW_LOGS, TAG, "\n==== calibrateWhite ====");
+                        return [4 /*yield*/, this.ensureColourSensorPowerOn(false)];
                     case 1:
-                        if (!(i < channels.length)) return [3 /*break*/, 5];
-                        channel = channels[i];
-                        Logger.info(SHOW_LOGS, TAG, "Setting 0x".concat(baseAddr.toString(16), " to ").concat(channel));
-                        highByte = (channel >> 8).toString(16).padStart(2, "0");
-                        lowByte = (channel & 0xff).toString(16).padStart(2, "0");
-                        command = CALIBRATE_COMMAND(name, baseAddr, highByte, lowByte, i);
-                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
+                        _a.sent();
+                        return [4 /*yield*/, this.getColourSensorReadings(names)];
                     case 2:
-                        rslt = _a.sent();
-                        // Logger.info(SHOW_LOGS, TAG, "rslt:" + JSON.stringify(rslt));
-                        if (rslt.rslt !== "ok") {
-                            Logger.info(SHOW_LOGS, TAG, "Error setting calibration");
+                        readings = _a.sent();
+                        if (!readings) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to read colour sensor for white calibration");
                             return [2 /*return*/, false];
                         }
-                        baseAddr += 2;
-                        return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 1000); })];
+                        return [4 /*yield*/, this.setCalibrationValues(readings)];
                     case 3:
-                        _a.sent();
-                        _a.label = 4;
+                        didCalibrate = _a.sent();
+                        if (!didCalibrate) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to set calibration values");
+                            return [2 /*return*/, false];
+                        }
+                        return [4 /*yield*/, this.wait(PAUSE_AFTER_SET_MS)];
                     case 4:
-                        i++;
-                        return [3 /*break*/, 1];
+                        _a.sent();
+                        return [4 /*yield*/, this.getCalibrationValues(names)];
                     case 5:
-                        Logger.info(SHOW_LOGS, TAG, "Calibration completed successfully.");
-                        return [2 /*return*/, true];
+                        calibrationValues = _a.sent();
+                        if (!calibrationValues) {
+                            Logger.vipLog(SHOW_LOGS, TAG, "Failed to read calibration values");
+                            return [2 /*return*/, false];
+                        }
+                        return [2 /*return*/, this.compareValues(readings, calibrationValues, TOLERANCE)];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.wait = function (ms) {
+        return __awaiter(this, void 0, void 0, function () {
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0: return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, ms); })];
+                    case 1:
+                        _a.sent();
+                        return [2 /*return*/];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.ensureColourSensorPowerOn = function (waitAfter) {
+        if (waitAfter === void 0) { waitAfter = true; }
+        return __awaiter(this, void 0, void 0, function () {
+            var error_3;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        _a.trys.push([0, 4, , 5]);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL("pwrctrl/5von")];
+                    case 1:
+                        _a.sent();
+                        if (!waitAfter) return [3 /*break*/, 3];
+                        return [4 /*yield*/, this.wait(POWER_ON_DELAY_MS)];
+                    case 2:
+                        _a.sent();
+                        _a.label = 3;
+                    case 3: return [3 /*break*/, 5];
+                    case 4:
+                        error_3 = _a.sent();
+                        Logger.vipLog(SHOW_LOGS, TAG, "Failed to enable 5V power for colour sensor: " + JSON.stringify(error_3));
+                        return [3 /*break*/, 5];
+                    case 5: return [2 /*return*/];
                 }
             });
         });
     };
     ColourSensorManualCalibratorMarty._isCalibrating = false;
-    ColourSensorManualCalibratorMarty._calibrationValues = null;
-    ColourSensorManualCalibratorMarty._colourSensorReadings = null;
+    ColourSensorManualCalibratorMarty._reportMsgKeyCounter = 1000;
+    ColourSensorManualCalibratorMarty._recentOffsetResetAt = null;
+    ColourSensorManualCalibratorMarty.OFFSET_RESET_WINDOW_MS = 20000;
     return ColourSensorManualCalibratorMarty;
 }());
 export default ColourSensorManualCalibratorMarty;