Diff: colour.cpp

Revision:

17:bf614e28668f

Parent:

16:50686c07ad07

Child:

18:9204f74069b4

diff -r 50686c07ad07 -r bf614e28668f colour.cpp
--- a/colour.cpp	Thu Jun 01 23:02:32 2017 +0000
+++ b/colour.cpp	Sun Jun 04 13:11:09 2017 +0000
@@ -26,10 +26,23 @@
 
 int last_detected_colour = -1;
 
+int cs_c_black,cs_r_black,cs_g_black,cs_b_black,cs_c_white,cs_r_white,cs_g_white,cs_b_white;
+
+void Colour::set_calibration_values(int c_black,int r_black,int g_black,int b_black,int c_white,int r_white,int g_white,int b_white){
+    cs_c_black = c_black;
+    cs_r_black = r_black;
+    cs_g_black = g_black;
+    cs_b_black = b_black;
+    cs_c_white = c_white;
+    cs_r_white = r_white;
+    cs_g_white = g_white;
+    cs_b_white = b_white;
+}
+
 void Colour::colour_sensor_init()
 {
-     colour.set_base_colour_sensor_integration_time(3);
-     colour.set_base_colour_sensor_gain(4);   
+     colour.set_base_colour_sensor_integration_time(BASE_COLOUR_SENSOR_INTEGRATION_TIME);
+     colour.set_base_colour_sensor_gain(BASE_COLOUR_SENSOR_GAIN);   
 }
 
 void Colour::read_base_colour_sensor_values(int * store_array)
@@ -187,19 +200,19 @@
 void Colour::get_calibrated_colour(int * colour_array_in, float * colour_array_out)
 {
     int colour_temp = colour_array_in[0];
-    if(colour_temp < CS_C_BLACK) colour_temp = CS_C_BLACK;
-    if(colour_temp > CS_C_WHITE) colour_temp = CS_C_WHITE;
-    colour_array_out[0] = (colour_temp - CS_C_BLACK) / (float) (CS_C_WHITE - CS_C_BLACK);
+    if(colour_temp < cs_c_black) colour_temp = cs_c_black;
+    if(colour_temp > cs_c_white) colour_temp = cs_c_white;
+    colour_array_out[0] = (colour_temp - cs_c_black) / (float) (cs_c_white - cs_c_black);
     float black_level = 1.0 - colour_array_out[0];
-    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);
-    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);
-    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);
+    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);
+    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);
+    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);
     // Normalise array
     float norm_factor = 3.0/(colour_array_out[1] + colour_array_out[2] + colour_array_out[3]);
     colour_array_out[1] *= norm_factor;
     colour_array_out[2] *= norm_factor;
     colour_array_out[3] *= norm_factor;
-    // int sum_black = CS_R_BLACK + CS_G_BLACK + CS_
+    // int sum_black = cs_r_black + cs_g_black + CS_
     // colour_array_out[1] =
 }