Diff: colour.cpp

Revision:

0:d6269d17c8cf

Child:

2:c6986ee3c7c5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/colour.cpp	Thu Feb 04 21:48:54 2016 +0000
@@ -0,0 +1,48 @@
+/* University of York Robotics Laboratory PsiSwarm Library: Colour Sensors Source File
+ * 
+ * File: colour.cpp
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.4
+ *
+ * February 2016
+ *
+ */
+
+
+// Base colour sensor is a TCS34725
+// Top colour sensor (if fitted) is a TCS34721
+#include "psiswarm.h"
+
+
+void read_base_colour_sensor_values(int * store_array){
+    
+}
+
+void set_base_colour_sensor_gain(char gain){
+    
+}
+
+void set_base_colour_sensor_integration_time(char int_time){
+    
+}
+
+void enable_base_colour_sensor(void){
+    
+}
+
+char IF_check_base_colour_sensor(void){
+    //Reads the device ID flag of the colour sensor [0xB2]
+    //This should equal 0x44 for both TCS34721 (top) and TCS34725 (base) sensors
+    //Return a 1 if successful or a 0 otherwise
+    char return_value = 0;
+    char data[1] = {0x00};
+    char command[1] = {0xB2};
+    primary_i2c.write(BASE_COLOUR_ADDRESS, command, 1, false);
+    primary_i2c.read(BASE_COLOUR_ADDRESS, data, 1, false);
+    if(data[0] == 0x44) return_value = 1;
+    else debug("Invalid response from colour sensor:%X\n",data[0]);
+    return return_value;
+}