Psi Swarm Robot / PsiSwarmV9

Psi Swarm robot library version 0.9

Dependents:   PsiSwarm_V9_Blank

Fork of PsiSwarmV9 by James Hilder

colour.cpp@16:50686c07ad07, 2017-06-01 (annotated)

Committer:
jah128
Date:
Thu Jun 01 23:02:32 2017 +0000
Revision:
16:50686c07ad07
Parent:
15:66be5ec52c3b
Child:
17:bf614e28668f
Added colour sensor code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Colour Sensors Source File
jah128 15:66be5ec52c3b 2 *
jah128 14:2f1ad77d281e 3 * Copyright 2017 University of York
jah128 6:b340a527add9 4 *
jah128 15:66be5ec52c3b 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 15:66be5ec52c3b 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 6:b340a527add9 10 *
jah128 0:d6269d17c8cf 11 * File: colour.cpp
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 14:2f1ad77d281e 16 * PsiSwarm Library Version: 0.9
jah128 0:d6269d17c8cf 17 *
jah128 14:2f1ad77d281e 18 * June 2017
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 */
jah128 0:d6269d17c8cf 21
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 // Base colour sensor is a TCS34725
jah128 0:d6269d17c8cf 24 // Top colour sensor (if fitted) is a TCS34721
jah128 0:d6269d17c8cf 25 #include "psiswarm.h"
jah128 0:d6269d17c8cf 26
jah128 15:66be5ec52c3b 27 int last_detected_colour = -1;
jah128 0:d6269d17c8cf 28
jah128 16:50686c07ad07 29 void Colour::colour_sensor_init()
jah128 16:50686c07ad07 30 {
jah128 16:50686c07ad07 31 colour.set_base_colour_sensor_integration_time(3);
jah128 16:50686c07ad07 32 colour.set_base_colour_sensor_gain(4);
jah128 16:50686c07ad07 33 }
jah128 16:50686c07ad07 34
jah128 15:66be5ec52c3b 35 void Colour::read_base_colour_sensor_values(int * store_array)
jah128 15:66be5ec52c3b 36 {
jah128 15:66be5ec52c3b 37 char buffer[8] = { 0 };
jah128 15:66be5ec52c3b 38 IF_readMultipleRegisters( CDATA, buffer, 8 );
jah128 15:66be5ec52c3b 39 store_array[0] = (int)buffer[1] << 8 | (int)buffer[0];
jah128 15:66be5ec52c3b 40 store_array[1] = (int)buffer[3] << 8 | (int)buffer[2];
jah128 15:66be5ec52c3b 41 store_array[2] = (int)buffer[5] << 8 | (int)buffer[4];
jah128 15:66be5ec52c3b 42 store_array[3] = (int)buffer[7] << 8 | (int)buffer[6];
jah128 15:66be5ec52c3b 43 }
jah128 15:66be5ec52c3b 44
jah128 15:66be5ec52c3b 45 void Colour::set_base_colour_sensor_gain(char gain)
jah128 15:66be5ec52c3b 46 {
jah128 15:66be5ec52c3b 47 char control;
jah128 15:66be5ec52c3b 48 int ack = 0;
jah128 15:66be5ec52c3b 49 switch (gain) {
jah128 15:66be5ec52c3b 50 case 1:
jah128 15:66be5ec52c3b 51 control = 0;
jah128 15:66be5ec52c3b 52 break;
jah128 15:66be5ec52c3b 53 case 4:
jah128 15:66be5ec52c3b 54 control = 1;
jah128 15:66be5ec52c3b 55 break;
jah128 15:66be5ec52c3b 56 case 16:
jah128 15:66be5ec52c3b 57 control = 2;
jah128 15:66be5ec52c3b 58 break;
jah128 15:66be5ec52c3b 59 case 60:
jah128 15:66be5ec52c3b 60 control = 3;
jah128 15:66be5ec52c3b 61 break;
jah128 15:66be5ec52c3b 62 default:
jah128 15:66be5ec52c3b 63 ack = 2; // 2 used to indicate invalid entry
jah128 15:66be5ec52c3b 64 break;
jah128 15:66be5ec52c3b 65 }
jah128 15:66be5ec52c3b 66 if ( ack != 2 ) {
jah128 15:66be5ec52c3b 67 ack = IF_writeSingleRegister( CONTROL, control );
jah128 15:66be5ec52c3b 68 }
jah128 0:d6269d17c8cf 69 }
jah128 0:d6269d17c8cf 70
jah128 15:66be5ec52c3b 71 void Colour::set_base_colour_sensor_integration_time(char int_time)
jah128 15:66be5ec52c3b 72 {
jah128 15:66be5ec52c3b 73 char atime = 256 - IF_roundTowardsZero( int_time / 2.4 ); // rounding ensures nearest value of atime is used
jah128 15:66be5ec52c3b 74 int ack = IF_writeSingleRegister( ATIME, atime );
jah128 15:66be5ec52c3b 75 }
jah128 15:66be5ec52c3b 76
jah128 15:66be5ec52c3b 77 float Colour::IF_roundTowardsZero( const float value )
jah128 15:66be5ec52c3b 78 {
jah128 15:66be5ec52c3b 79 float result = 0;
jah128 15:66be5ec52c3b 80 if ( ( value >= 0 && ( value - (int)value ) < 0.5 ) || ( value < 0 && ( abs(value) - (int)abs(value) ) >= 0.5 ) ) {
jah128 15:66be5ec52c3b 81 result = floor(value);
jah128 15:66be5ec52c3b 82 } else {
jah128 15:66be5ec52c3b 83 result = ceil(value);
jah128 15:66be5ec52c3b 84 }
jah128 15:66be5ec52c3b 85 return result;
jah128 15:66be5ec52c3b 86 }
jah128 15:66be5ec52c3b 87
jah128 15:66be5ec52c3b 88 void Colour::enable_base_colour_sensor(void)
jah128 15:66be5ec52c3b 89 {
jah128 15:66be5ec52c3b 90 char enable_old = IF_readSingleRegister( ENABLE );
jah128 15:66be5ec52c3b 91 char enable_new = enable_old | 3; // sets PON (bit 0) and AEN (bit 1) to 1
jah128 15:66be5ec52c3b 92 int ack = IF_writeSingleRegister( ENABLE, enable_new );
jah128 15:66be5ec52c3b 93 }
jah128 15:66be5ec52c3b 94
jah128 15:66be5ec52c3b 95
jah128 15:66be5ec52c3b 96 void Colour::disable_base_colour_sensor(void)
jah128 15:66be5ec52c3b 97 {
jah128 15:66be5ec52c3b 98 char enable_old = IF_readSingleRegister( ENABLE );
jah128 15:66be5ec52c3b 99 char enable_new = enable_old & 252; // sets PON (bit 0) and AEN (bit 1) to 0
jah128 15:66be5ec52c3b 100 int ack = IF_writeSingleRegister( ENABLE, enable_new );
jah128 15:66be5ec52c3b 101 }
jah128 15:66be5ec52c3b 102
jah128 15:66be5ec52c3b 103 Timeout colour_ticker;
jah128 15:66be5ec52c3b 104 int colour_ticker_period;
jah128 15:66be5ec52c3b 105 int colour_ticker_on = 0;
jah128 15:66be5ec52c3b 106
jah128 15:66be5ec52c3b 107 void Colour::start_colour_ticker(int period_ms)
jah128 15:66be5ec52c3b 108 {
jah128 15:66be5ec52c3b 109 colour_ticker_on = 1;
jah128 15:66be5ec52c3b 110 colour_ticker_period = period_ms;
jah128 15:66be5ec52c3b 111 colour_ticker.attach_us(this,&Colour::IF_colour_ticker_start, 100);
jah128 15:66be5ec52c3b 112 }
jah128 15:66be5ec52c3b 113
jah128 16:50686c07ad07 114 void Colour::stop_colour_ticker()
jah128 16:50686c07ad07 115 {
jah128 16:50686c07ad07 116 colour_ticker_on = 0;
jah128 16:50686c07ad07 117 colour_ticker.detach();
jah128 16:50686c07ad07 118 }
jah128 16:50686c07ad07 119
jah128 15:66be5ec52c3b 120 void Colour::IF_colour_ticker_start()
jah128 15:66be5ec52c3b 121 {
jah128 15:66be5ec52c3b 122 led.set_base_led(1);
jah128 15:66be5ec52c3b 123 enable_base_colour_sensor();
jah128 15:66be5ec52c3b 124 colour_ticker.attach_us(this,&Colour::IF_colour_ticker_main, 25000);
jah128 0:d6269d17c8cf 125 }
jah128 0:d6269d17c8cf 126
jah128 15:66be5ec52c3b 127 void Colour::IF_colour_ticker_main()
jah128 15:66be5ec52c3b 128 {
jah128 15:66be5ec52c3b 129 int rgb_readings [4];
jah128 15:66be5ec52c3b 130 read_base_colour_sensor_values( rgb_readings );
jah128 15:66be5ec52c3b 131 disable_base_colour_sensor();
jah128 15:66be5ec52c3b 132 led.set_base_led(0);
jah128 15:66be5ec52c3b 133 if(rgb_readings[1] > 0 && rgb_readings[1] < 1024 && rgb_readings[2] > 0 && rgb_readings[2] < 1024 && rgb_readings[3] > 0 && rgb_readings[3] < 1024) {
jah128 15:66be5ec52c3b 134 float adjusted[4];
jah128 15:66be5ec52c3b 135 get_calibrated_colour(rgb_readings,adjusted);
jah128 15:66be5ec52c3b 136 last_detected_colour = identify_colour_from_calibrated_colour_scores(adjusted);
jah128 15:66be5ec52c3b 137 }
jah128 15:66be5ec52c3b 138 if(colour_ticker_on == 1)colour_ticker.attach_us(this,&Colour::IF_colour_ticker_start, colour_ticker_period * 1000);
jah128 15:66be5ec52c3b 139 }
jah128 15:66be5ec52c3b 140
jah128 15:66be5ec52c3b 141
jah128 15:66be5ec52c3b 142
jah128 15:66be5ec52c3b 143 int Colour::detect_colour_once()
jah128 15:66be5ec52c3b 144 {
jah128 15:66be5ec52c3b 145 int rgb_readings [4];
jah128 15:66be5ec52c3b 146 led.set_base_led(1);
jah128 15:66be5ec52c3b 147 enable_base_colour_sensor();
jah128 15:66be5ec52c3b 148 wait(0.03);
jah128 15:66be5ec52c3b 149 read_base_colour_sensor_values( rgb_readings );
jah128 15:66be5ec52c3b 150 disable_base_colour_sensor();
jah128 15:66be5ec52c3b 151 led.set_base_led(0);
jah128 15:66be5ec52c3b 152 if(rgb_readings[1] < 1 || rgb_readings[1] > 1022 || rgb_readings[2] < 1 || rgb_readings[2] > 1022 || rgb_readings[3] < 1 || rgb_readings[3] > 1022) return -1;
jah128 15:66be5ec52c3b 153 float adjusted[4];
jah128 15:66be5ec52c3b 154 get_calibrated_colour(rgb_readings,adjusted);
jah128 15:66be5ec52c3b 155 last_detected_colour = identify_colour_from_calibrated_colour_scores(adjusted);
jah128 15:66be5ec52c3b 156 return last_detected_colour;
jah128 15:66be5ec52c3b 157 }
jah128 15:66be5ec52c3b 158
jah128 15:66be5ec52c3b 159 int Colour::get_detected_colour()
jah128 15:66be5ec52c3b 160 {
jah128 15:66be5ec52c3b 161 return last_detected_colour;
jah128 0:d6269d17c8cf 162 }
jah128 0:d6269d17c8cf 163
jah128 15:66be5ec52c3b 164 const char * Colour::get_colour_string(int colour_index)
jah128 15:66be5ec52c3b 165 {
jah128 15:66be5ec52c3b 166 switch(colour_index) {
jah128 15:66be5ec52c3b 167 case 0:
jah128 15:66be5ec52c3b 168 return "RED ";
jah128 15:66be5ec52c3b 169 case 1:
jah128 15:66be5ec52c3b 170 return "YELLOW ";
jah128 15:66be5ec52c3b 171 case 2:
jah128 15:66be5ec52c3b 172 return "GREEN ";
jah128 15:66be5ec52c3b 173 case 3:
jah128 15:66be5ec52c3b 174 return "CYAN ";
jah128 15:66be5ec52c3b 175 case 4:
jah128 15:66be5ec52c3b 176 return "BLUE ";
jah128 15:66be5ec52c3b 177 case 5:
jah128 15:66be5ec52c3b 178 return "MAGENTA";
jah128 15:66be5ec52c3b 179 case 6:
jah128 15:66be5ec52c3b 180 return "WHITE ";
jah128 15:66be5ec52c3b 181 case 7:
jah128 15:66be5ec52c3b 182 return "BLACK ";
jah128 15:66be5ec52c3b 183 }
jah128 15:66be5ec52c3b 184 return "-------";
jah128 0:d6269d17c8cf 185 }
jah128 0:d6269d17c8cf 186
jah128 15:66be5ec52c3b 187 void Colour::get_calibrated_colour(int * colour_array_in, float * colour_array_out)
jah128 15:66be5ec52c3b 188 {
jah128 15:66be5ec52c3b 189 int colour_temp = colour_array_in[0];
jah128 15:66be5ec52c3b 190 if(colour_temp < CS_C_BLACK) colour_temp = CS_C_BLACK;
jah128 15:66be5ec52c3b 191 if(colour_temp > CS_C_WHITE) colour_temp = CS_C_WHITE;
jah128 15:66be5ec52c3b 192 colour_array_out[0] = (colour_temp - CS_C_BLACK) / (float) (CS_C_WHITE - CS_C_BLACK);
jah128 15:66be5ec52c3b 193 float black_level = 1.0 - colour_array_out[0];
jah128 15:66be5ec52c3b 194 colour_array_out[1] = ((colour_array_in[1] / (float)CS_R_WHITE) * colour_array_out[0]) + ((colour_array_in[1] / (float)CS_R_BLACK) * black_level);
jah128 15:66be5ec52c3b 195 colour_array_out[2] = ((colour_array_in[2] / (float)CS_G_WHITE) * colour_array_out[0]) + ((colour_array_in[2] / (float)CS_G_BLACK) * black_level);
jah128 15:66be5ec52c3b 196 colour_array_out[3] = ((colour_array_in[3] / (float)CS_B_WHITE) * colour_array_out[0]) + ((colour_array_in[3] / (float)CS_B_BLACK) * black_level);
jah128 15:66be5ec52c3b 197 // Normalise array
jah128 15:66be5ec52c3b 198 float norm_factor = 3.0/(colour_array_out[1] + colour_array_out[2] + colour_array_out[3]);
jah128 15:66be5ec52c3b 199 colour_array_out[1] *= norm_factor;
jah128 15:66be5ec52c3b 200 colour_array_out[2] *= norm_factor;
jah128 15:66be5ec52c3b 201 colour_array_out[3] *= norm_factor;
jah128 15:66be5ec52c3b 202 // int sum_black = CS_R_BLACK + CS_G_BLACK + CS_
jah128 15:66be5ec52c3b 203 // colour_array_out[1] =
jah128 15:66be5ec52c3b 204 }
jah128 15:66be5ec52c3b 205
jah128 15:66be5ec52c3b 206 int Colour::identify_colour_from_calibrated_colour_scores(float * calibrate_colour_array_in)
jah128 15:66be5ec52c3b 207 {
jah128 15:66be5ec52c3b 208 float scores[8];
jah128 15:66be5ec52c3b 209 scores[0] = ((calibrate_colour_array_in[1] * 2) * (calibrate_colour_array_in[1] * 2)) / ((calibrate_colour_array_in[2] + calibrate_colour_array_in[3]) * (calibrate_colour_array_in[2] + calibrate_colour_array_in[3]));
jah128 15:66be5ec52c3b 210 scores[1] = ((calibrate_colour_array_in[1] + calibrate_colour_array_in[2]) * (calibrate_colour_array_in[1] + calibrate_colour_array_in[2])) / (calibrate_colour_array_in[3] * calibrate_colour_array_in[3] * 4);
jah128 15:66be5ec52c3b 211 scores[2] = ((calibrate_colour_array_in[2] * 2) * (calibrate_colour_array_in[2] * 2)) / ((calibrate_colour_array_in[1] + calibrate_colour_array_in[3]) * (calibrate_colour_array_in[1] + calibrate_colour_array_in[3]));
jah128 15:66be5ec52c3b 212 scores[3] = ((calibrate_colour_array_in[2] + calibrate_colour_array_in[3]) * (calibrate_colour_array_in[2] + calibrate_colour_array_in[3])) / (calibrate_colour_array_in[1] * calibrate_colour_array_in[1] * 4);
jah128 15:66be5ec52c3b 213 scores[4] = ((calibrate_colour_array_in[3] * 2) * (calibrate_colour_array_in[3] * 2)) / ((calibrate_colour_array_in[2] + calibrate_colour_array_in[1]) * (calibrate_colour_array_in[2] + calibrate_colour_array_in[1]));
jah128 15:66be5ec52c3b 214 scores[5] = ((calibrate_colour_array_in[3] + calibrate_colour_array_in[1]) * (calibrate_colour_array_in[3] + calibrate_colour_array_in[1])) / (calibrate_colour_array_in[2] * calibrate_colour_array_in[2] * 4);
jah128 15:66be5ec52c3b 215 float grey_factor = 1.0 / (1 + ((((calibrate_colour_array_in[1] - 1) * 10) * ((calibrate_colour_array_in[1] - 1) * 10)) * (((calibrate_colour_array_in[2] - 1) * 10) * ((calibrate_colour_array_in[2] - 1) * 10)) * (((calibrate_colour_array_in[3] - 1) * 10) * ((calibrate_colour_array_in[3] - 1) * 10))));
jah128 15:66be5ec52c3b 216 scores[6] = calibrate_colour_array_in[0] * calibrate_colour_array_in[0] * grey_factor * 4;
jah128 15:66be5ec52c3b 217 scores[7] = (1-calibrate_colour_array_in[0]) * (1-calibrate_colour_array_in[0]) * grey_factor * 4;
jah128 15:66be5ec52c3b 218 //pc.printf("R:%1.2f Y:%1.2f G:%1.2f C:%1.2f B:%1.2f M:%1.2f W:%1.2f B:%1.2f G:%1.2f\n\n", scores[0],scores[1],scores[2],scores[3],scores[4],scores[5],scores[6],scores[7],grey_factor);
jah128 15:66be5ec52c3b 219 float max = 2;
jah128 15:66be5ec52c3b 220 int max_index = 8;
jah128 15:66be5ec52c3b 221 for(int i=0; i<8; i++) {
jah128 15:66be5ec52c3b 222 if(scores[i] > max) {
jah128 15:66be5ec52c3b 223 max=scores[i];
jah128 15:66be5ec52c3b 224 max_index=i;
jah128 15:66be5ec52c3b 225 }
jah128 15:66be5ec52c3b 226 }
jah128 15:66be5ec52c3b 227 return max_index;
jah128 15:66be5ec52c3b 228 }
jah128 15:66be5ec52c3b 229
jah128 15:66be5ec52c3b 230 char Colour::IF_check_base_colour_sensor(void)
jah128 15:66be5ec52c3b 231 {
jah128 0:d6269d17c8cf 232 //Reads the device ID flag of the colour sensor [0xB2]
jah128 0:d6269d17c8cf 233 //This should equal 0x44 for both TCS34721 (top) and TCS34725 (base) sensors
jah128 0:d6269d17c8cf 234 //Return a 1 if successful or a 0 otherwise
jah128 0:d6269d17c8cf 235 char return_value = 0;
jah128 0:d6269d17c8cf 236 char data[1] = {0x00};
jah128 0:d6269d17c8cf 237 char command[1] = {0xB2};
jah128 0:d6269d17c8cf 238 primary_i2c.write(BASE_COLOUR_ADDRESS, command, 1, false);
jah128 0:d6269d17c8cf 239 primary_i2c.read(BASE_COLOUR_ADDRESS, data, 1, false);
jah128 0:d6269d17c8cf 240 if(data[0] == 0x44) return_value = 1;
jah128 12:878c6e9d9e60 241 else psi.debug("Invalid response from colour sensor:%X\n",data[0]);
jah128 0:d6269d17c8cf 242 return return_value;
jah128 0:d6269d17c8cf 243 }
jah128 15:66be5ec52c3b 244
jah128 15:66be5ec52c3b 245 int Colour::IF_writeSingleRegister( char address, char data )
jah128 15:66be5ec52c3b 246 {
jah128 15:66be5ec52c3b 247 char tx[2] = { address | 160, data }; //0d160 = 0b10100000
jah128 15:66be5ec52c3b 248 int ack = primary_i2c.write(BASE_COLOUR_ADDRESS, tx, 2, false);
jah128 15:66be5ec52c3b 249 return ack;
jah128 15:66be5ec52c3b 250 }
jah128 15:66be5ec52c3b 251
jah128 15:66be5ec52c3b 252 int Colour::IF_writeMultipleRegisters( char address, char* data, int quantity )
jah128 15:66be5ec52c3b 253 {
jah128 15:66be5ec52c3b 254 char tx[ quantity + 1 ];
jah128 15:66be5ec52c3b 255 tx[0] = address | 160;
jah128 15:66be5ec52c3b 256 for ( int i = 1; i <= quantity; i++ ) {
jah128 15:66be5ec52c3b 257 tx[ i ] = data[ i - 1 ];
jah128 15:66be5ec52c3b 258 }
jah128 15:66be5ec52c3b 259 int ack = primary_i2c.write(BASE_COLOUR_ADDRESS, tx, quantity + 1, false);
jah128 15:66be5ec52c3b 260 return ack;
jah128 15:66be5ec52c3b 261 }
jah128 15:66be5ec52c3b 262
jah128 15:66be5ec52c3b 263 char Colour::IF_readSingleRegister( char address )
jah128 15:66be5ec52c3b 264 {
jah128 15:66be5ec52c3b 265 char output = 255;
jah128 15:66be5ec52c3b 266 char command = address | 160; //0d160 = 0b10100000
jah128 15:66be5ec52c3b 267 primary_i2c.write( BASE_COLOUR_ADDRESS, &command, 1, true );
jah128 15:66be5ec52c3b 268 primary_i2c.read( BASE_COLOUR_ADDRESS, &output, 1 );
jah128 15:66be5ec52c3b 269 return output;
jah128 15:66be5ec52c3b 270 }
jah128 15:66be5ec52c3b 271
jah128 15:66be5ec52c3b 272 int Colour::IF_readMultipleRegisters( char address, char* output, int quantity )
jah128 15:66be5ec52c3b 273 {
jah128 15:66be5ec52c3b 274 char command = address | 160; //0d160 = 0b10100000
jah128 15:66be5ec52c3b 275 primary_i2c.write(BASE_COLOUR_ADDRESS, &command, 1, true );
jah128 15:66be5ec52c3b 276 int ack = primary_i2c.read( BASE_COLOUR_ADDRESS, output, quantity );
jah128 15:66be5ec52c3b 277 return ack;
jah128 15:66be5ec52c3b 278 }