Ion Systems / Mbed 2 deprecated Chipin_Main

The MBED firmware used on the Chipin sorter, developed over 12 weeks for a 3rd year university systems project. Chipin is a token sorter, it sorts tokens by colours and dispenses them to order through an online booking system and card reader. This program interfaces with an FPGA, PC and LCD screen to control the sorter. The sorter has an operation mode where it can process orders when a card is entered into the machine. There is also a maintenance mode where the device responds to maintenance instructions such as 'dispense all'. More information at http://www.ionsystems.uk/

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed-rtos mbed

colourProcessing.h@23:f9e7e64784be, 2014-11-29 (annotated)

Committer:
IonSystems
Date:
Sat Nov 29 16:32:57 2014 +0000
Revision:
23:f9e7e64784be
Parent:
22:8f11d1c178ab
Child:
24:8868101d01d0
might be working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IonSystems 6:e64796f1f384 1 #include "mbed.h"
IonSystems 6:e64796f1f384 2 #include "TCS3472_I2C.h"
IonSystems 6:e64796f1f384 3 #include "Colour.h"
IonSystems 11:06f6e82b40a8 4
IonSystems 6:e64796f1f384 5 TCS3472_I2C rgb_sensor(p28,p27); //p28 =sda, p27=scl
IonSystems 6:e64796f1f384 6
IonSystems 23:f9e7e64784be 7 int rgb_readings[10][4];
IonSystems 14:31ba3e56c788 8 int rgb_average[4] = {0,0,0,0};
IonSystems 6:e64796f1f384 9 double rMax = 9244;
IonSystems 6:e64796f1f384 10 double gMax = 3194;
IonSystems 6:e64796f1f384 11 double bMax = 3590;
IonSystems 23:f9e7e64784be 12 int tubeSize = 10;
IonSystems 23:f9e7e64784be 13
IonSystems 17:6a0bb0ad5bb4 14 int redLT [3] = {308,84,162};
IonSystems 22:8f11d1c178ab 15 int redUT [3]= {400,144,204};
IonSystems 17:6a0bb0ad5bb4 16 int greenLT [3] = {91,180,142};
IonSystems 17:6a0bb0ad5bb4 17 int greenUT [3]= {132,220,184};
IonSystems 17:6a0bb0ad5bb4 18 int blueLT [3]= {79,95,117};
IonSystems 17:6a0bb0ad5bb4 19 int blueUT [3]= {117,139,157};
IonSystems 13:0661d658d9d1 20 int noneLT [3] = {0,0,0};
IonSystems 13:0661d658d9d1 21 int noneUT [3] = {80,80,80};
IonSystems 6:e64796f1f384 22
IonSystems 23:f9e7e64784be 23 void initColourSensor()
IonSystems 23:f9e7e64784be 24 {
IonSystems 6:e64796f1f384 25 rgb_sensor.enablePowerAndRGBC();
IonSystems 6:e64796f1f384 26 rgb_sensor.setIntegrationTime(100);
IonSystems 6:e64796f1f384 27 }
IonSystems 6:e64796f1f384 28
IonSystems 23:f9e7e64784be 29 Colour readColourSensor()
IonSystems 23:f9e7e64784be 30 {
IonSystems 23:f9e7e64784be 31 for(int i = 0; i < 10; i++) {
IonSystems 23:f9e7e64784be 32 rgb_sensor.getAllColors(rgb_readings[i]);
IonSystems 23:f9e7e64784be 33 wait(0.001);
IonSystems 23:f9e7e64784be 34 }
IonSystems 23:f9e7e64784be 35 for(int i = 0; i < 10; i++) {
IonSystems 23:f9e7e64784be 36 for(int j = 0; j < 4; j++) {
IonSystems 23:f9e7e64784be 37 rgb_average[j] += rgb_readings[i][j];
IonSystems 5:644bca33c1ca 38 }
IonSystems 23:f9e7e64784be 39 }
IonSystems 23:f9e7e64784be 40 for(int i = 0; i < 4; i++) {
IonSystems 23:f9e7e64784be 41 rgb_average[i] = rgb_average[i] / 10;
IonSystems 23:f9e7e64784be 42 }
IonSystems 23:f9e7e64784be 43 double redd = (rgb_average[1] /gMax) * 255;
IonSystems 23:f9e7e64784be 44 double greend = (rgb_average[2] /bMax) * 255;
IonSystems 23:f9e7e64784be 45 double blued = (rgb_average[0] /rMax) * 255;
IonSystems 23:f9e7e64784be 46
IonSystems 23:f9e7e64784be 47 int red = redd;
IonSystems 23:f9e7e64784be 48 int green = greend;
IonSystems 23:f9e7e64784be 49 int blue = blued;
IonSystems 23:f9e7e64784be 50
IonSystems 23:f9e7e64784be 51 bool redWithinThreshold[4] = {0,0,0,0};
IonSystems 23:f9e7e64784be 52 bool greenWithinThreshold[4]= {0,0,0,0};
IonSystems 23:f9e7e64784be 53 bool blueWithinThreshold[4]= {0,0,0,0};
IonSystems 23:f9e7e64784be 54 //Set red Thresholds
IonSystems 23:f9e7e64784be 55 redWithinThreshold[0] = (red >= redLT[0]) && (red <= redUT[0]);
IonSystems 23:f9e7e64784be 56 greenWithinThreshold[0] = (green >= redLT[1]) && (green <= redUT[1]);
IonSystems 23:f9e7e64784be 57 blueWithinThreshold[0] = (blue >= redLT[2]) && (blue <= redUT[2]);
IonSystems 23:f9e7e64784be 58 //Set green Thresholds
IonSystems 23:f9e7e64784be 59 redWithinThreshold[1] = (red >= greenLT[0]) && (red <= greenUT[0]);
IonSystems 23:f9e7e64784be 60 greenWithinThreshold[1] = (green >= greenLT[1]) && (green <= greenUT[1]);
IonSystems 23:f9e7e64784be 61 blueWithinThreshold[1] = (blue >= greenLT[2]) && (blue <= greenUT[2]);
IonSystems 23:f9e7e64784be 62 //Set blue Thresholds
IonSystems 23:f9e7e64784be 63 redWithinThreshold[2] = (red >= blueLT[0]) && (red <= blueUT[0]);
IonSystems 23:f9e7e64784be 64 greenWithinThreshold[2] = (green >= blueLT[1]) && (green <= blueUT[1]);
IonSystems 23:f9e7e64784be 65 blueWithinThreshold[2] = blue >= blueLT[2] && blue <= blueUT[2];
IonSystems 23:f9e7e64784be 66 //Set none Thresholds
IonSystems 23:f9e7e64784be 67 redWithinThreshold[3] = (red >= noneLT[0]) && (red <= noneUT[0]);
IonSystems 23:f9e7e64784be 68 greenWithinThreshold[3] = (green >= noneLT[1]) && (green <= noneUT[1]);
IonSystems 23:f9e7e64784be 69 blueWithinThreshold[3] = blue >= noneLT[2] && blue <= noneUT[2];
IonSystems 23:f9e7e64784be 70
IonSystems 23:f9e7e64784be 71 if(redWithinThreshold[0] && greenWithinThreshold[0] && blueWithinThreshold[0]) {
IonSystems 23:f9e7e64784be 72 return RED;
IonSystems 23:f9e7e64784be 73 } else if(redWithinThreshold[1] && greenWithinThreshold[1] && blueWithinThreshold[1]) {
IonSystems 23:f9e7e64784be 74 return GREEN;
IonSystems 23:f9e7e64784be 75 } else if(redWithinThreshold[2] && greenWithinThreshold[2] && blueWithinThreshold[2]) {
IonSystems 23:f9e7e64784be 76 return BLUE;
IonSystems 23:f9e7e64784be 77 } else if(redWithinThreshold[3] && greenWithinThreshold[3] && blueWithinThreshold[3]) {
IonSystems 23:f9e7e64784be 78 return NONE;
IonSystems 23:f9e7e64784be 79 } else {
IonSystems 23:f9e7e64784be 80 return BIN;
IonSystems 23:f9e7e64784be 81 }
IonSystems 23:f9e7e64784be 82
IonSystems 5:644bca33c1ca 83 }
IonSystems 5:644bca33c1ca 84
IonSystems 13:0661d658d9d1 85
IonSystems 23:f9e7e64784be 86