Psi Swarm Robot / PsiSwarmV9

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Dependents:   PsiSwarm_V9_Blank

Fork of PsiSwarmV9 by James Hilder

colour.cpp@13:adbd827234a4, 2016-10-17 (annotated)

Committer:
jah128
Date:
Mon Oct 17 13:19:20 2016 +0000
Revision:
13:adbd827234a4
Parent:
12:878c6e9d9e60
Child:
14:2f1ad77d281e
Added Colour class

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 0:d6269d17c8cf 2 *
jah128 6:b340a527add9 3 * Copyright 2016 University of York
jah128 6:b340a527add9 4 *
jah128 6:b340a527add9 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 6:b340a527add9 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 12:878c6e9d9e60 16 * PsiSwarm Library Version: 0.8
jah128 0:d6269d17c8cf 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
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 0:d6269d17c8cf 27
jah128 13:adbd827234a4 28 void Colour::read_base_colour_sensor_values(int * store_array){
jah128 0:d6269d17c8cf 29
jah128 0:d6269d17c8cf 30 }
jah128 0:d6269d17c8cf 31
jah128 13:adbd827234a4 32 void Colour::set_base_colour_sensor_gain(char gain){
jah128 0:d6269d17c8cf 33
jah128 0:d6269d17c8cf 34 }
jah128 0:d6269d17c8cf 35
jah128 13:adbd827234a4 36 void Colour::set_base_colour_sensor_integration_time(char int_time){
jah128 0:d6269d17c8cf 37
jah128 0:d6269d17c8cf 38 }
jah128 0:d6269d17c8cf 39
jah128 13:adbd827234a4 40 void Colour::enable_base_colour_sensor(void){
jah128 0:d6269d17c8cf 41
jah128 0:d6269d17c8cf 42 }
jah128 0:d6269d17c8cf 43
jah128 13:adbd827234a4 44 char Colour::IF_check_base_colour_sensor(void){
jah128 0:d6269d17c8cf 45 //Reads the device ID flag of the colour sensor [0xB2]
jah128 0:d6269d17c8cf 46 //This should equal 0x44 for both TCS34721 (top) and TCS34725 (base) sensors
jah128 0:d6269d17c8cf 47 //Return a 1 if successful or a 0 otherwise
jah128 0:d6269d17c8cf 48 char return_value = 0;
jah128 0:d6269d17c8cf 49 char data[1] = {0x00};
jah128 0:d6269d17c8cf 50 char command[1] = {0xB2};
jah128 0:d6269d17c8cf 51 primary_i2c.write(BASE_COLOUR_ADDRESS, command, 1, false);
jah128 0:d6269d17c8cf 52 primary_i2c.read(BASE_COLOUR_ADDRESS, data, 1, false);
jah128 0:d6269d17c8cf 53 if(data[0] == 0x44) return_value = 1;
jah128 12:878c6e9d9e60 54 else psi.debug("Invalid response from colour sensor:%X\n",data[0]);
jah128 0:d6269d17c8cf 55 return return_value;
jah128 0:d6269d17c8cf 56 }