Diff: Classes/tColorSensor.cpp
- Revision:
- 0:daa4f58b511e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Classes/tColorSensor.cpp Thu Mar 24 16:03:15 2016 +0000
@@ -0,0 +1,263 @@
+#include "tColorSensor.h"
+//#include <Wire.h>
+//#include <math.h>
+
+// Default constructor
+tColorSensor::tColorSensor() : triggerMode_(INTEG_MODE_FREE | INTEG_PARAM_PULSE_COUNT1),
+interruptSource_(INT_SOURCE_CLEAR),
+interruptMode_(INTR_LEVEL | INTR_PERSIST_EVERY),
+gainAndPrescaler_(GAIN_1 | PRESCALER_1),
+sensorAddress_(COLOR_SENSOR_ADDR))
+{
+ GroveColorSensor::setTimingReg();
+ GroveColorSensor::setInterruptSourceReg();
+ GroveColorSensor::setInterruptControlReg();
+ GroveColorSensor::setGain();
+ GroveColorSensor::setEnableADC();
+}
+
+// Constructor with parameters
+GroveColorSensor::GroveColorSensor(
+ const int& triggerMode
+ , const int& interruptSource
+ , const int& interruptMode
+ , const int& gainAndPrescaler
+ , const int& sensorAddress)
+ : triggerMode_(triggerMode)
+ , interruptSource_(interruptSource)
+ , interruptMode_(interruptMode)
+ , gainAndPrescaler_(gainAndPrescaler)
+ , sensorAddress_(sensorAddress)
+{}
+
+void GroveColorSensor::setTimingReg()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_TIMING);
+ Wire.write(triggerMode_);
+ Wire.endTransmission();
+ delay(10);
+}
+
+void GroveColorSensor::setInterruptSourceReg()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_INT_SOURCE);
+ Wire.write(interruptSource_);
+ Wire.endTransmission();
+ delay(10);
+}
+
+void GroveColorSensor::setInterruptControlReg()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_INT);
+ Wire.write(interruptMode_);
+ Wire.endTransmission();
+ delay(10);
+}
+
+void GroveColorSensor::setGain()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_GAIN);
+ Wire.write(gainAndPrescaler_);
+ Wire.endTransmission();
+}
+
+void GroveColorSensor::setEnableADC()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_CTL);
+ Wire.write(CTL_DAT_INIITIATE);
+ Wire.endTransmission();
+ delay(10);
+}
+
+void GroveColorSensor::clearInterrupt()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(CLR_INT);
+ Wire.endTransmission();
+}
+
+void GroveColorSensor::readRGB()
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_BLOCK_READ);
+ Wire.endTransmission();
+
+ Wire.beginTransmission(sensorAddress_);
+ Wire.requestFrom(sensorAddress_, 8);
+ delay(100);
+
+ // if two bytes were received
+ if(8 <= Wire.available())
+ {
+ int i;
+ for(i = 0; i < 8; ++i)
+ {
+ readingdata_[i] = Wire.read();
+ //Serial.println(readingdata_[i], BIN);
+ }
+ }
+ green_ = readingdata_[1] * 256 + readingdata_[0];
+ red_ = readingdata_[3] * 256 + readingdata_[2];
+ blue_ = readingdata_[5] * 256 + readingdata_[4];
+ clear_ = readingdata_[7] * 256 + readingdata_[6];
+
+ Serial.print("The RGB value are: RGB( ");
+ Serial.print(red_,DEC);
+ Serial.print(", ");
+ Serial.print(green_,DEC);
+ Serial.print(", ");
+ Serial.print(blue_,DEC);
+ Serial.println(" )");
+ Serial.print("The Clear channel value are: ");
+ Serial.println(clear_,DEC);
+}
+
+void GroveColorSensor::readRGB(int *red, int *green, int *blue)
+{
+ Wire.beginTransmission(sensorAddress_);
+ Wire.write(REG_BLOCK_READ);
+ Wire.endTransmission();
+
+ Wire.beginTransmission(sensorAddress_);
+ Wire.requestFrom(sensorAddress_, 8);
+ delay(100);
+
+ // if two bytes were received
+ if(8 <= Wire.available())
+ {
+ int i;
+ for(i = 0; i < 8; ++i)
+ {
+ readingdata_[i] = Wire.read();
+ //Serial.println(readingdata_[i], BIN);
+ }
+ }
+ green_ = readingdata_[1] * 256 + readingdata_[0];
+ red_ = readingdata_[3] * 256 + readingdata_[2];
+ blue_ = readingdata_[5] * 256 + readingdata_[4];
+ clear_ = readingdata_[7] * 256 + readingdata_[6];
+
+ double tmp;
+ int maxColor;
+
+ if ( ledStatus == 1 )
+ {
+ red_ = red_ * 1.70;
+ blue_ = blue_ * 1.35;
+
+ maxColor = max(red_, green_);
+ maxColor = max(maxColor, blue_);
+
+ if(maxColor > 255)
+ {
+ tmp = 250.0/maxColor;
+ green_ *= tmp;
+ red_ *= tmp;
+ blue_ *= tmp;
+ }
+ }
+ if ( ledStatus == 0 )
+ {
+ maxColor = max(red_, green_);
+ maxColor = max(maxColor, blue_);
+
+ tmp = 250.0/maxColor;
+ green_ *= tmp;
+ red_ *= tmp;
+ blue_ *= tmp;
+
+ }
+
+ int minColor = min(red_, green_);
+ minColor = min(maxColor, blue_);
+ maxColor = max(red_, green_);
+ maxColor = max(maxColor, blue_);
+
+ int greenTmp = green_;
+ int redTmp = red_;
+ int blueTmp = blue_;
+
+//when turn on LED, need to adjust the RGB data,otherwise it is almost the white color
+ if(red_ < 0.8*maxColor && red_ >= 0.6*maxColor)
+ {
+ red_ *= 0.4;
+ }
+ else if(red_ < 0.6*maxColor)
+ {
+ red_ *= 0.2;
+ }
+
+ if(green_ < 0.8*maxColor && green_ >= 0.6*maxColor)
+ {
+ green_ *= 0.4;
+ }
+ else if(green_ < 0.6*maxColor)
+ {
+ if (maxColor == redTmp && greenTmp >= 2*blueTmp && greenTmp >= 0.2*redTmp) //orange
+ {
+ green_ *= 5;
+ }
+ green_ *= 0.2;
+ }
+
+ if(blue_ < 0.8*maxColor && blue_ >= 0.6*maxColor)
+ {
+ blue_ *= 0.4;
+ }
+ else if(blue_ < 0.6*maxColor)
+ {
+ if (maxColor == redTmp && greenTmp >= 2*blueTmp && greenTmp >= 0.2*redTmp) //orange
+ {
+ blue_ *= 0.5;
+ }
+ if (maxColor == redTmp && greenTmp <= blueTmp && blueTmp >= 0.2*redTmp) //pink
+ {
+ blue_ *= 5;
+ }
+ blue_ *= 0.2;
+ }
+
+ minColor = min(red_, green_);
+ minColor = min(maxColor, blue_);
+ if(maxColor == green_ && red_ >= 0.85*maxColor && minColor == blue_) //yellow
+ {
+ red_ = maxColor;
+ blue_ *= 0.4;
+ }
+
+ *red = red_;
+ *green = green_;
+ *blue = blue_;
+}
+
+void GroveColorSensor::calculateCoordinate()
+{
+ double X;
+ double Y;
+ double Z;
+ double x;
+ double y;
+
+ X = (-0.14282) * red_ + (1.54924) * green_ + (-0.95641) * blue_;
+ Y = (-0.32466) * red_ + (1.57837) * green_ + (-0.73191) * blue_;
+ Z = (-0.68202) * red_ + (0.77073) * green_ + (0.563320) * blue_;
+
+ x = X / (X + Y + Z);
+ y = Y / (X + Y + Z);
+
+ if( (X > 0) && ( Y > 0) && ( Z > 0) )
+ {
+ Serial.println("The x,y values are(");
+ Serial.print(x, 2);
+ Serial.print(" , ");
+ Serial.print(y, 2);
+ Serial.println(")");
+ }
+ else
+ Serial.println("Error: overflow!");
+}
\ No newline at end of file
Carla Yoyotte
