Diff: main.cpp

Revision:

29:9c0339e3c593

Parent:

28:7e4d29977d72

Child:

30:c0bc92d009fe

--- a/main.cpp	Tue Dec 01 20:54:26 2015 +0000
+++ b/main.cpp	Tue Dec 01 22:56:08 2015 +0000
@@ -33,6 +33,7 @@
 int 		blockCount = 0;
 bool 		lastBlockHaz = false;
 bool 		recievingResponse = false;
+bool 		isBetweenHazValues[3] = false;
 
 Commander 	_commander = Commander();
 Commander 	*commander = &_commander;
@@ -341,9 +342,9 @@
 
     if (connectedToPC) {
         for (int i = 0; i < 3; i++) {
-            pc.printf("DEBUG:Percentage Error: %.5f.\n", percentageError[i]);
-            if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * errorMultiplier))
-                pc.printf("DEBUG:%i Pass.\n", i);
+            pc.printf("DEBUG:Percentage Error: %.5f. Passed?: %i\n", percentageError[i], isBetweenHazValues[i]);
+//            if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinRedError[i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxRedError[i] * errorMultiplier))
+//                pc.printf("DEBUG:%i Pass.\n", i);
         }
         pc.printf("BLOCK:Size:%i,Red:%.3f,Green:%.3f,Blue:%.3f,Haz:%i, Offsetred:%.3f, Offsetgreen:%.3f, Offsetblue:%.3f;", blockSize, adjustedValues[0], adjustedValues[1], adjustedValues[2], lastBlockHaz, percentageError[0], percentageError[1], percentageError[2]);
         //        pc.printf("VALUE:Size:%i,Red:%i,Green:%i,Blue:%i,Clear:%i\n:VALUE", blockSize, colourValues[0], colourValues[1], colourValues[2], colourValues[3], lastBlockHaz);
@@ -389,7 +390,7 @@
     lcd->cls();
     lcd->locate(0,0);
     lcd->printf("Initilizing...");
-    DefaultHazBlock();
+//    DefaultHazBlock();
     rgbSensor.enablePowerAndRGBC();
     rgbSensor.setIntegrationTime(gIntegrationTime);
     srand((unsigned)time(NULL));
@@ -415,7 +416,7 @@
 
 bool checkColour(int colourValues[])
 {
-    bool isHazColour[3] = {false, false, false };
+    isBetweenHazValues[3] = {false, false, false };
     memset(adjustedValues, 0, sizeof(adjustedValues));
     memset(percentageError, 0, sizeof(percentageError));
 
@@ -425,28 +426,32 @@
     		percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
 
     		if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) {
-    			isHazColour[i] = true;
+    			isBetweenHazValues[i] = true;
     		}
     	}
     */
+    /*
     for (int i = 0; i < 3; i++) {
         adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
         percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
-
+		// Don't forget to call DefaultHazBlock in init otherwise currentMin/MaxErr won't be set.
         if ((percentageError[i] < 0 && std::abs(percentageError[i]) < currentMinError[i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < currentMaxError[i] * errorMultiplier)) {
             isHazColour[i] = true;
         }
     }
+    */
+    for (int i = 0; i < 3; i++) {
+            adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
+            percentageError[i] = (adjustedValues[i] - kAverageValues[HazBlock->colour][i]) / kAverageValues[HazBlock->colour][i];
 
-    //    for (int i = 0; i < 3; i++) {
-    //        if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]) {
-    //            isHazColour[i] = true;
-    //        }
-    //    }
+            if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[HazBlock->colour][i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[HazBlock->colour][i] * errorMultiplier)) {
+                isBetweenHazValues[i] = true;
+            }
+        }
 
     bool isHazBlock = false;
 
-    if (isHazColour[0] && isHazColour[1] && isHazColour[2]) {
+    if (isBetweenHazValues[0] && isBetweenHazValues[1] && isBetweenHazValues[2]) {
         isHazBlock = true;
     } else {
         isHazBlock = false;