This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: Sensors/Colour/Colour.cpp
- Revision:
- 4:1be0f6c6ceae
- Child:
- 7:4340355261f9
diff -r 717de74f6ebd -r 1be0f6c6ceae Sensors/Colour/Colour.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/Colour/Colour.cpp Wed Apr 03 17:54:53 2013 +0000 @@ -0,0 +1,30 @@ + +// Eurobot13 Colour.cpp + +#include "Colour.h" + +void Colour::ReadLed (Led &led, float &avg, float &stdev, const int measureNum){ + LedsOff(); + led.on(); + double x = 0, x2 = 0; + for (int i = measureNum; i != 0; i--) { + float v = pt.read(); + x += v; + x2+= v*v; + } + avg = x / measureNum; + stdev = sqrt(x2 / measureNum - avg*avg); + LedsOff(); + //pc.printf("Phototransistor Analog is: %f\t%f\n\r", avg, stdev); +} + +bool Colour::isColour(Led &led, const float &avg, const float &stdev, const float numstddev){ + float avg2, stdev2; + ReadLed(led, avg2, stdev2); + + if (avg + numstddev*stdev < avg2 - numstddev*stdev2) { + return true; + } else { + return false; + } +} \ No newline at end of file