C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
Diff: colour.cpp
- Revision:
- 0:d6269d17c8cf
- Child:
- 2:c6986ee3c7c5
diff -r 000000000000 -r d6269d17c8cf colour.cpp --- /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; +}