Diff: colourProcessing.h

Revision:

23:f9e7e64784be

Parent:

22:8f11d1c178ab

Child:

24:8868101d01d0

--- a/colourProcessing.h	Tue Nov 25 22:32:26 2014 +0000
+++ b/colourProcessing.h	Sat Nov 29 16:32:57 2014 +0000
@@ -4,22 +4,13 @@
 
 TCS3472_I2C rgb_sensor(p28,p27); //p28 =sda, p27=scl
 
-int rgb_readings[100][4];
+int rgb_readings[10][4];
 int rgb_average[4] = {0,0,0,0};
 double rMax = 9244;
 double gMax = 3194;
 double bMax = 3590;
-int tubeSize = 30;
-//thresholds are in the RGB format.
-/*
-Values for black casing
-int redLT [3] = {79,23,41};
-int redUT [3]= {92,28,49};
-int greenLT [3] = {46,81,61};
-int greenUT [3]= {60,107,81};
-int blueLT [3]= {25,47,47};
-int blueUT [3]= {28,52,52};*/
-//values for blue backing
+int tubeSize = 10;
+
 int redLT [3] =     {308,84,162};
 int redUT [3]=      {400,144,204};
 int greenLT [3] =   {91,180,142};
@@ -29,93 +20,67 @@
 int noneLT [3] = {0,0,0};
 int noneUT [3] = {80,80,80};
 
-void initColourSensor(){
+void initColourSensor()
+{
     rgb_sensor.enablePowerAndRGBC();
     rgb_sensor.setIntegrationTime(100);
 }
 
-Colour readColourSensor(){
-        wait(0.1);
-        lcd->cls(); // clear display 
-        lcd->locate(0,0); 
-        lcd->printf("Reading Sensor");
-        for(int i = 0; i < 100; i++){            
-            rgb_sensor.getAllColors(rgb_readings[i]);
-            wait(0.001);
-        }
-        for(int i = 0; i < 100; i++){ 
-            for(int j = 0; j < 4; j++){           
-                rgb_average[j] += rgb_readings[i][j];
-            }
-        }
-        for(int i = 0; i < 4; i++){
-            rgb_average[i] = rgb_average[i] / 100;        
-        }
-        double redd = (rgb_average[1] /gMax) * 255;
-        double greend = (rgb_average[2] /bMax) * 255;
-        double blued = (rgb_average[0] /rMax) * 255;
-        
-        int red = redd;
-        int green = greend;
-        int blue = blued;  
-        //colourDataAcquired = true;
-        lcd->cls(); // clear display 
-        lcd->locate(0,0); 
-        lcd->printf("R:%dG:%dB:%d",red,green,blue);
-        
-        lcd->locate(1,0); 
-        /*if(red > 55){
-            lcd->printf("RED");
+Colour readColourSensor()
+{   
+    for(int i = 0; i < 10; i++) {
+        rgb_sensor.getAllColors(rgb_readings[i]);
+        wait(0.001);
+    }
+    for(int i = 0; i < 10; i++) {
+        for(int j = 0; j < 4; j++) {
+            rgb_average[j] += rgb_readings[i][j];
         }
-        if(green > 55){
-            lcd->printf("GREEN");
-        } 
-        if(red < 30 && green > 30 && blue > 30){
-            lcd->printf("BLUE");
-        }*/  
-        
-        bool redWithinThreshold[4] = {0,0,0,0};
-        bool greenWithinThreshold[4]= {0,0,0,0};
-        bool blueWithinThreshold[4]= {0,0,0,0};
-        //Set red Thresholds
-        redWithinThreshold[0] = (red >= redLT[0]) && (red <= redUT[0]);
-        greenWithinThreshold[0] = (green >= redLT[1]) && (green <= redUT[1]);
-        blueWithinThreshold[0] = (blue >= redLT[2]) && (blue <= redUT[2]);
-        //Set green Thresholds
-        redWithinThreshold[1] = (red >= greenLT[0]) && (red <= greenUT[0]);
-        greenWithinThreshold[1] = (green >= greenLT[1]) && (green <= greenUT[1]);
-        blueWithinThreshold[1] = (blue >= greenLT[2]) && (blue <= greenUT[2]);
-        //Set blue Thresholds
-        redWithinThreshold[2] = (red >= blueLT[0]) && (red <= blueUT[0]);
-        greenWithinThreshold[2] = (green >= blueLT[1]) && (green <= blueUT[1]);
-        blueWithinThreshold[2] = blue >= blueLT[2] && blue <= blueUT[2];
-        //Set none Thresholds
-        redWithinThreshold[3] = (red >= noneLT[0]) && (red <= noneUT[0]);
-        greenWithinThreshold[3] = (green >= noneLT[1]) && (green <= noneUT[1]);
-        blueWithinThreshold[3] = blue >= noneLT[2] && blue <= noneUT[2];
-        
-        if(redWithinThreshold[0] && greenWithinThreshold[0] && blueWithinThreshold[0]){
-            lcd->printf("RED");
-            return RED;
-            }
-        else if(redWithinThreshold[1] && greenWithinThreshold[1] && blueWithinThreshold[1]){
-            lcd->printf("GREEN");
-            return GREEN;
-            }
-        else if(redWithinThreshold[2] && greenWithinThreshold[2] && blueWithinThreshold[2]){
-            lcd->printf("BLUE");
-            return BLUE;
-            }
-         else if(redWithinThreshold[3] && greenWithinThreshold[3] && blueWithinThreshold[3]){
-            lcd->printf("NONE");
-            return NONE;
-            }
-        else{
-            lcd->printf("BIN");
-            return BIN;
-            }    
-       
+    }
+    for(int i = 0; i < 4; i++) {
+        rgb_average[i] = rgb_average[i] / 10;
+    }
+    double redd = (rgb_average[1] /gMax) * 255;
+    double greend = (rgb_average[2] /bMax) * 255;
+    double blued = (rgb_average[0] /rMax) * 255;
+
+    int red = redd;
+    int green = greend;
+    int blue = blued;
+
+    bool redWithinThreshold[4] = {0,0,0,0};
+    bool greenWithinThreshold[4]= {0,0,0,0};
+    bool blueWithinThreshold[4]= {0,0,0,0};
+    //Set red Thresholds
+    redWithinThreshold[0] = (red >= redLT[0]) && (red <= redUT[0]);
+    greenWithinThreshold[0] = (green >= redLT[1]) && (green <= redUT[1]);
+    blueWithinThreshold[0] = (blue >= redLT[2]) && (blue <= redUT[2]);
+    //Set green Thresholds
+    redWithinThreshold[1] = (red >= greenLT[0]) && (red <= greenUT[0]);
+    greenWithinThreshold[1] = (green >= greenLT[1]) && (green <= greenUT[1]);
+    blueWithinThreshold[1] = (blue >= greenLT[2]) && (blue <= greenUT[2]);
+    //Set blue Thresholds
+    redWithinThreshold[2] = (red >= blueLT[0]) && (red <= blueUT[0]);
+    greenWithinThreshold[2] = (green >= blueLT[1]) && (green <= blueUT[1]);
+    blueWithinThreshold[2] = blue >= blueLT[2] && blue <= blueUT[2];
+    //Set none Thresholds
+    redWithinThreshold[3] = (red >= noneLT[0]) && (red <= noneUT[0]);
+    greenWithinThreshold[3] = (green >= noneLT[1]) && (green <= noneUT[1]);
+    blueWithinThreshold[3] = blue >= noneLT[2] && blue <= noneUT[2];
+
+    if(redWithinThreshold[0] && greenWithinThreshold[0] && blueWithinThreshold[0]) {
+        return RED;
+    } else if(redWithinThreshold[1] && greenWithinThreshold[1] && blueWithinThreshold[1]) {
+        return GREEN;
+    } else if(redWithinThreshold[2] && greenWithinThreshold[2] && blueWithinThreshold[2]) {
+        return BLUE;
+    } else if(redWithinThreshold[3] && greenWithinThreshold[3] && blueWithinThreshold[3]) {
+        return NONE;
+    } else {
+        return BIN;
+    }
+
 }
 
 
-   
+