This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Sensors/Colour/Colour.h@4:1be0f6c6ceae, 2013-04-03 (annotated)
- Committer:
- twighk
- Date:
- Wed Apr 03 17:54:53 2013 +0000
- Revision:
- 4:1be0f6c6ceae
- Parent:
- 3:717de74f6ebd
- Child:
- 5:56a5fdd373c9
State on 3rd of april
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 3:717de74f6ebd | 1 | |
twighk | 3:717de74f6ebd | 2 | // Eurobot13 Colour.h |
twighk | 3:717de74f6ebd | 3 | |
twighk | 3:717de74f6ebd | 4 | #include "mbed.h" |
twighk | 3:717de74f6ebd | 5 | #include "Led.h" |
twighk | 3:717de74f6ebd | 6 | #include "Phototransistor.h" |
twighk | 3:717de74f6ebd | 7 | |
twighk | 3:717de74f6ebd | 8 | enum ColourEnum {BLUE, RED, WHITE, INCONCLUSIVE, BUG}; |
twighk | 3:717de74f6ebd | 9 | |
twighk | 3:717de74f6ebd | 10 | class Colour{ |
twighk | 3:717de74f6ebd | 11 | private: |
twighk | 3:717de74f6ebd | 12 | Led blue; float bavg, bstdev; |
twighk | 3:717de74f6ebd | 13 | Led red; float ravg, rstdev; |
twighk | 3:717de74f6ebd | 14 | Phototransistor pt; |
twighk | 3:717de74f6ebd | 15 | |
twighk | 3:717de74f6ebd | 16 | public: |
twighk | 3:717de74f6ebd | 17 | Colour(PinName bluePin, PinName redPin, PinName phototransistorPin) |
twighk | 3:717de74f6ebd | 18 | : blue(bluePin) |
twighk | 3:717de74f6ebd | 19 | , red (redPin) |
twighk | 3:717de74f6ebd | 20 | , pt (phototransistorPin) |
twighk | 3:717de74f6ebd | 21 | { |
twighk | 3:717de74f6ebd | 22 | LedsOff(); |
twighk | 3:717de74f6ebd | 23 | } |
twighk | 3:717de74f6ebd | 24 | |
twighk | 3:717de74f6ebd | 25 | void Calibrate(){ |
twighk | 3:717de74f6ebd | 26 | ReadLed(blue, bavg, bstdev); |
twighk | 3:717de74f6ebd | 27 | ReadLed( red, ravg, rstdev); |
twighk | 3:717de74f6ebd | 28 | } |
twighk | 3:717de74f6ebd | 29 | |
twighk | 3:717de74f6ebd | 30 | ColourEnum getColour(){ |
twighk | 3:717de74f6ebd | 31 | bool blueb = isColour(blue, bavg, bstdev) |
twighk | 3:717de74f6ebd | 32 | , redb = isColour( red, ravg, rstdev); |
twighk | 3:717de74f6ebd | 33 | |
twighk | 3:717de74f6ebd | 34 | if ( blueb && redb) |
twighk | 3:717de74f6ebd | 35 | {return WHITE;} |
twighk | 3:717de74f6ebd | 36 | else if ( blueb && !redb) |
twighk | 3:717de74f6ebd | 37 | {return BLUE;} |
twighk | 3:717de74f6ebd | 38 | else if (!blueb && redb) |
twighk | 3:717de74f6ebd | 39 | {return RED;} |
twighk | 3:717de74f6ebd | 40 | else if (!blueb && !redb) |
twighk | 3:717de74f6ebd | 41 | {return INCONCLUSIVE;} |
twighk | 3:717de74f6ebd | 42 | return BUG; |
twighk | 3:717de74f6ebd | 43 | } |
twighk | 3:717de74f6ebd | 44 | |
twighk | 3:717de74f6ebd | 45 | private: |
twighk | 3:717de74f6ebd | 46 | void LedsOff(){blue.off(); red.off();} |
twighk | 4:1be0f6c6ceae | 47 | void ReadLed (Led &led, float &avg, float &stdev, const int measureNum = 25); // Colour.cpp |
twighk | 4:1be0f6c6ceae | 48 | bool isColour(Led &led, const float &avg, const float &stdev, const float numstddev = 2); // Colour.cpp |
twighk | 3:717de74f6ebd | 49 | |
twighk | 3:717de74f6ebd | 50 | }; |