File content as of revision 17:6a0bb0ad5bb4:

#include "mbed.h"
#include "TCS3472_I2C.h"
#include "Colour.h"

TCS3472_I2C rgb_sensor(p28,p27); //p28 =sda, p27=scl

int rgb_readings[100][4];
int rgb_average[4] = {0,0,0,0};
double rMax = 9244;
double gMax = 3194;
double bMax = 3590;
int tubeSize = 33;
//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 redLT [3] =     {308,84,162};
int redUT [3]=      {352,124,204};
int greenLT [3] =   {91,180,142};
int greenUT [3]=    {132,220,184};
int blueLT [3]=     {79,95,117};
int blueUT [3]=     {117,139,157};
int noneLT [3] = {0,0,0};
int noneUT [3] = {80,80,80};

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");
        }
        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;
            }    
       
}