ryo seki
colorrrrr
Revision 0:7269a89e1d57, committed 2013-08-29
- Comitter:
- akudohune
- Date:
- Thu Aug 29 13:50:59 2013 +0000
- Commit message:
- color
Changed in this revision
diff -r 000000000000 -r 7269a89e1d57 ColorSensor.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ColorSensor.cpp Thu Aug 29 13:50:59 2013 +0000
@@ -0,0 +1,147 @@
+#include "ColorSensor.h"
+// カラーセンサーテストプログラム
+// 赤、緑、青を判定する。
+#define coef 1.05
+
+ColorSensor::ColorSensor(
+ PinName dout, PinName range,
+ PinName ck, PinName gate, int tm)
+{
+ Dout = new DigitalIn(dout);
+ Range = new DigitalOut(range);
+ CK = new DigitalOut(ck);
+ Gate = new DigitalOut(gate);
+ time = tm; // 積算時間(ms)
+
+ *CK = 0;
+ *Gate = 0;
+ *Range= 1; // 高感度モード
+ setWhite();
+}
+
+void ColorSensor::setWhite()
+{
+ unsigned short RGB[3];
+ getRGB(RGB);
+ R = RGB[0];
+ G = RGB[1];
+ B = RGB[2];
+}
+
+ColorSensor::ColorSensor(void) {
+ unsigned short RGB[3];
+ double R, G, B, r,g,b;
+
+ Dout = new DigitalIn(p5); // Dout
+ Range = new DigitalOut(p6); // Range
+ CK = new DigitalOut(p7); // CK
+ Gate = new DigitalOut(p8); // Gate
+
+ *CK = 0; //ck
+ *Gate = 0; //gate
+ *Range = 1; // 高感度モード range
+ time = 10; // 10ms
+ setWhite();
+}
+
+void ColorSensor::getRGB(unsigned short RGB[])
+{
+ unsigned short i, j, coldata;
+
+ *Gate = 1;
+ wait_ms(time); // 積算時間
+ *Gate = 0;
+ for(i=0; i<3; i++) {
+ coldata=0;
+ for(j=0; j<12; j++) {
+ *CK = 1;
+ wait_us(1);
+ coldata>>=1;
+ if(*Dout) coldata|=0x800;
+ *CK = 0;
+ wait_us(1);
+ }
+ RGB[i]=coldata;
+ }
+}
+
+void ColorSensor::getRGB(
+ unsigned& R, unsigned& G, unsigned& B)
+{
+ unsigned i, j, coldata;
+
+ *Gate = 1;
+ wait_ms(time); // 積算時間
+ *Gate = 0;
+ for(i=0; i<3; i++) {
+ coldata=0;
+ for(j=0; j<12; j++) {
+ *CK = 1;
+ wait_us(1);
+ coldata>>=1;
+ if(*Dout) coldata|=0x800;
+ *CK = 0;
+ wait_us(1);
+ }
+ switch(i) {
+ case 0: R=coldata; break;
+ case 1: G=coldata; break;
+ case 2: B=coldata; break;
+ }
+ }
+ }
+
+ // 比率を%で返す
+unsigned ColorSensor::checkRGB(
+ unsigned& R, unsigned& G, unsigned& B)
+{
+ unsigned i, j, coldata, I;
+
+ *Gate = 1;
+ wait_ms(time); // 積算時間
+ *Gate = 0;
+ for(i=0; i<3; i++) {
+ coldata=0;
+ for(j=0; j<12; j++) {
+ *CK = 1;
+ wait_us(1);
+ coldata>>=1;
+ if(*Dout) coldata|=0x800;
+ *CK = false;
+ wait_us(1);
+ }
+ switch(i) {
+ case 0: R=coldata; break;
+ case 1: G=coldata; break;
+ case 2: B=coldata; break;
+ }
+ }
+ I = R + G + B;
+ R = R*100/I;
+ G = G*100/I;
+ B = B*100/I;
+ return I;
+}
+
+int ColorSensor::judge()
+{
+ unsigned short RGB[3];
+ double r,g,b;
+ *CK = 0; //ck
+ *Gate = 0; //gate
+ *Range = 1; // 高感度モード range
+
+ getRGB(RGB);
+ r = RGB[0]*100/R;
+ g = RGB[1]*100/G;
+ b = RGB[2]*100/B;
+ if(r > g) {
+ if(r > b*coef) return RED;
+ else if(b > r*coef) return GREEN;
+ }
+ else {
+ if(g > b*coef) return GREEN;
+ else if(b > g*coef) return BLUE;
+ }
+ return OTHER;
+}
\ No newline at end of file
diff -r 000000000000 -r 7269a89e1d57 ColorSensor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ColorSensor.h Thu Aug 29 13:50:59 2013 +0000
@@ -0,0 +1,23 @@
+#include "mbed.h"
+#define RED 0
+#define GREEN 1
+#define BLUE 2
+#define OTHER 3
+class ColorSensor
+{
+ private:
+ DigitalIn *Dout;
+ DigitalOut *Range;
+ DigitalOut *CK;
+ DigitalOut *Gate;
+ int time;
+ double R, G, B;
+ public:
+ ColorSensor(PinName Dout, PinName Range, PinName CK, PinName Gate, int time);
+ ColorSensor(void);
+ void getRGB(unsigned short RGB[]);
+ void getRGB(unsigned& R, unsigned& G, unsigned& B);
+ unsigned checkRGB(unsigned& R, unsigned& G, unsigned& B);
+ int judge();
+ void setWhite();
+};
\ No newline at end of file
diff -r 000000000000 -r 7269a89e1d57 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 29 13:50:59 2013 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+#include "ColorSensor.h"
+
+ColorSensor color(p17, p18, p19, p20, 10);
+//ColorSensor color = ColorSensor();
+Serial pc(USBTX, USBRX); // tx, rx
+
+int main()
+{
+ unsigned R, G, B;
+ //pc.baud(115200);
+ while(1)
+ {
+ color.getRGB(R, G, B);
+ pc.printf("%4d %4d %4d\n", R, G, B);
+ /*
+ switch(color.judge()){
+ case RED: pc.printf("RED\n"); break;
+ case GREEN: pc.printf("GREEN\n"); break;
+ case BLUE: pc.printf("BLUE\n"); break;
+ default: break;
+ }
+ */
+ wait_ms(500);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 7269a89e1d57 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Aug 29 13:50:59 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/b3110cd2dd17 \ No newline at end of file