You can use the mraa and upm libraries.
Using mraa, you will be able to read analog values, take a look at this example:
You can compile by running g++ AioA0.cpp -o output –lmraa
You can find more information about MRAA in:
UPM, has some libraries for some sensors, these libraries uses the MRAA library too. Unfortunately there isn’t an example for the TCS3200 but there is an example for the TCS3414cs.
I think this example will give you an idea on how to start. You can compile it by running: g++ tcs3414cs.cxx -o out -lupm-tcs3414cs -I /usr/include/upm/ -lmraa
More information about UPM in: