Nolan Wagener / Mbed 2 deprecated TestColorSensorSadPanda

a beter verjin

Dependencies:   m3pi mbed ADJD-S371_ColourSens

Fork of TestColorSensor by Kyle Chiang

main.cpp@7:10e1ec0e8179, 2013-12-14 (annotated)

Committer:
nolanwagener
Date:
Sat Dec 14 08:18:00 2013 +0000
Revision:
7:10e1ec0e8179
Parent:
5:3dd9b0a35aee 
additional functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TaintedTruth 0:1eada136b388 1 #include "mbed.h"
TaintedTruth 0:1eada136b388 2 #include "m3pi.h"
nolanwagener 5:3dd9b0a35aee 3 #include <ADJDColourSensor.h>
TaintedTruth 0:1eada136b388 4
nolanwagener 7:10e1ec0e8179 5 #define RED 97 //((const unsigned char *)"1")
nolanwagener 7:10e1ec0e8179 6 #define GREEN 98 //((const unsigned char *) "2")
nolanwagener 7:10e1ec0e8179 7 #define BLUE 99 //((const unsigned char *) "3")
nolanwagener 7:10e1ec0e8179 8 #define BROWN 100 //((cont unsigned char *) "4")
nolanwagener 7:10e1ec0e8179 9 #define BLACK 101 // ((const unsigned char *) "5")
nolanwagener 7:10e1ec0e8179 10 #define YELLOW 102
nolanwagener 7:10e1ec0e8179 11 #define WHITE 103
nolanwagener 7:10e1ec0e8179 12 #define TEST 104 // ((const unsigned char *) "6")
nolanwagener 7:10e1ec0e8179 13 #define SET_PARAMETERS 105
nolanwagener 7:10e1ec0e8179 14 #define GET_PARAMETERS 106
nolanwagener 7:10e1ec0e8179 15 #define OPTIMIZE_PARAMETERS 107
nolanwagener 7:10e1ec0e8179 16 #define GET_TIMING 108
nolanwagener 5:3dd9b0a35aee 17 #define NUM_OF_WEIGHTS 7
nolanwagener 5:3dd9b0a35aee 18 #define NUM_OF_TESTS 25
nolanwagener 5:3dd9b0a35aee 19
nolanwagener 5:3dd9b0a35aee 20 //DigitalOut sensorLED(p8);
nolanwagener 5:3dd9b0a35aee 21 //I2C colorSensor(p28, p27); //SDA, SCL
TaintedTruth 2:5c0159599726 22 Serial bt(p13, p14); // tx, rx
nolanwagener 5:3dd9b0a35aee 23 ADJDColourSensor colorSensor(p28, p27, p8);
TaintedTruth 0:1eada136b388 24
nolanwagener 5:3dd9b0a35aee 25 //const int addr_write = 0x74 << 1;
nolanwagener 5:3dd9b0a35aee 26 //const int addr_read = addr_write + 0x1;
TaintedTruth 1:d481b2912c2a 27 m3pi m3pi;
TaintedTruth 1:d481b2912c2a 28
nolanwagener 5:3dd9b0a35aee 29 void normalize(double* feature) {
nolanwagener 5:3dd9b0a35aee 30 double magnitude = sqrt(feature[0] * feature[0] + feature[1] * feature[1] + feature[2] * feature[2] + feature[3] * feature[3]);
nolanwagener 5:3dd9b0a35aee 31 feature[0] /= magnitude;
nolanwagener 5:3dd9b0a35aee 32 feature[1] /= magnitude;
nolanwagener 5:3dd9b0a35aee 33 feature[2] /= magnitude;
nolanwagener 5:3dd9b0a35aee 34 feature[3] /= magnitude;
nolanwagener 5:3dd9b0a35aee 35 }
nolanwagener 5:3dd9b0a35aee 36
nolanwagener 5:3dd9b0a35aee 37 void takeMeasurements(int numberOfTests) {
nolanwagener 5:3dd9b0a35aee 38 int redTotal = 0;
nolanwagener 5:3dd9b0a35aee 39 int greenTotal = 0;
nolanwagener 5:3dd9b0a35aee 40 int blueTotal = 0;
nolanwagener 5:3dd9b0a35aee 41 int clearTotal = 0;
nolanwagener 5:3dd9b0a35aee 42 for(int i = 0; i < numberOfTests; i++) {
nolanwagener 5:3dd9b0a35aee 43 colorSensor.readColors();
nolanwagener 5:3dd9b0a35aee 44 redTotal += colorSensor.red();
nolanwagener 5:3dd9b0a35aee 45 greenTotal += colorSensor.green();
nolanwagener 5:3dd9b0a35aee 46 blueTotal += colorSensor.blue();
nolanwagener 5:3dd9b0a35aee 47 clearTotal += colorSensor.clear();
nolanwagener 5:3dd9b0a35aee 48 }
nolanwagener 5:3dd9b0a35aee 49 bt.printf("R:%d, G:%d, B:%d, C:%d\r", redTotal / numberOfTests, greenTotal / numberOfTests, blueTotal / numberOfTests, clearTotal / numberOfTests);
nolanwagener 5:3dd9b0a35aee 50 }
nolanwagener 5:3dd9b0a35aee 51
nolanwagener 5:3dd9b0a35aee 52 double max(double* values) {
nolanwagener 5:3dd9b0a35aee 53 double currentMax = values[0];
nolanwagener 5:3dd9b0a35aee 54
nolanwagener 5:3dd9b0a35aee 55 for(int i = 1; i < NUM_OF_WEIGHTS; i++) {
nolanwagener 5:3dd9b0a35aee 56 if(values[i] > currentMax)
nolanwagener 5:3dd9b0a35aee 57 currentMax = values[i];
nolanwagener 5:3dd9b0a35aee 58 }
nolanwagener 5:3dd9b0a35aee 59
nolanwagener 5:3dd9b0a35aee 60 return currentMax;
nolanwagener 5:3dd9b0a35aee 61
nolanwagener 5:3dd9b0a35aee 62 }
nolanwagener 5:3dd9b0a35aee 63
nolanwagener 5:3dd9b0a35aee 64 int max(int* values) {
nolanwagener 5:3dd9b0a35aee 65 int currentMax = values[0];
nolanwagener 5:3dd9b0a35aee 66
nolanwagener 5:3dd9b0a35aee 67 for(int i = 1; i < NUM_OF_WEIGHTS; i++) {
nolanwagener 5:3dd9b0a35aee 68 if(values[i] > currentMax)
nolanwagener 5:3dd9b0a35aee 69 currentMax = values[i];
nolanwagener 5:3dd9b0a35aee 70 }
nolanwagener 5:3dd9b0a35aee 71
nolanwagener 5:3dd9b0a35aee 72 return currentMax;
nolanwagener 5:3dd9b0a35aee 73
nolanwagener 5:3dd9b0a35aee 74 }
nolanwagener 5:3dd9b0a35aee 75
nolanwagener 5:3dd9b0a35aee 76 void correctWeights(double* wrongWeights, double* properWeights) {
nolanwagener 5:3dd9b0a35aee 77 double colors[] = { (double) colorSensor.red(), (double) colorSensor.green(), (double) colorSensor.blue() };
nolanwagener 5:3dd9b0a35aee 78 normalize(colors);
nolanwagener 5:3dd9b0a35aee 79 wrongWeights[0] -= colors[0]; //colorSensor.red();
nolanwagener 5:3dd9b0a35aee 80 wrongWeights[1] -= colors[1]; //colorSensor.green();
nolanwagener 5:3dd9b0a35aee 81 wrongWeights[2] -= colors[2]; //colorSensor.blue();
nolanwagener 5:3dd9b0a35aee 82 properWeights[0] += colors[0]; //colorSensor.red();
nolanwagener 5:3dd9b0a35aee 83 properWeights[1] += colors[1]; //colorSensor.green();
nolanwagener 5:3dd9b0a35aee 84 properWeights[2] += colors[2]; //colorSensor.blue();
nolanwagener 5:3dd9b0a35aee 85
nolanwagener 5:3dd9b0a35aee 86 normalize(wrongWeights);
nolanwagener 5:3dd9b0a35aee 87 normalize(properWeights);
nolanwagener 5:3dd9b0a35aee 88 }
nolanwagener 5:3dd9b0a35aee 89
nolanwagener 5:3dd9b0a35aee 90 void correctWeights(int* wrongWeights, int* properWeights) {
nolanwagener 5:3dd9b0a35aee 91 wrongWeights[0] -= colorSensor.red();
nolanwagener 5:3dd9b0a35aee 92 wrongWeights[1] -= colorSensor.green();
nolanwagener 5:3dd9b0a35aee 93 wrongWeights[2] -= colorSensor.blue();
nolanwagener 5:3dd9b0a35aee 94 properWeights[0] += colorSensor.red();
nolanwagener 5:3dd9b0a35aee 95 properWeights[1] += colorSensor.green();
nolanwagener 5:3dd9b0a35aee 96 properWeights[2] += colorSensor.blue();
nolanwagener 5:3dd9b0a35aee 97 }
nolanwagener 5:3dd9b0a35aee 98
nolanwagener 5:3dd9b0a35aee 99
nolanwagener 5:3dd9b0a35aee 100 void sendData(char* color, double* redWeights, double* greenWeights, double* blueWeights, double* brownWeights, double* blackWeights, double* yellowWeights, double* whiteWeights) {
nolanwagener 5:3dd9b0a35aee 101 bt.printf("%s,%d,%d,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r", color, colorSensor.red(), colorSensor.green(), colorSensor.blue(), colorSensor.clear(),redWeights[0], redWeights[1], redWeights[2], redWeights[3], greenWeights[0], greenWeights[1], greenWeights[2], greenWeights[3], blueWeights[0], blueWeights[1], blueWeights[2], blueWeights[3], brownWeights[0], brownWeights[1], brownWeights[2], brownWeights[3], blackWeights[0], blackWeights[1], blackWeights[2], blackWeights[3], yellowWeights[0], yellowWeights[1], yellowWeights[2], yellowWeights[3], whiteWeights[0], whiteWeights[1], whiteWeights[2], whiteWeights[3]);
nolanwagener 5:3dd9b0a35aee 102 }
nolanwagener 5:3dd9b0a35aee 103
nolanwagener 5:3dd9b0a35aee 104 void sendData(char* color, int* redWeights, int* greenWeights, int* blueWeights, int* brownWeights, int* blackWeights, int* yellowWeights, int* whiteWeights) {
nolanwagener 5:3dd9b0a35aee 105 bt.printf("%s,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r", color, colorSensor.red(), colorSensor.green(), colorSensor.blue(), colorSensor.clear(),redWeights[0], redWeights[1], redWeights[2], redWeights[3], greenWeights[0], greenWeights[1], greenWeights[2], greenWeights[3], blueWeights[0], blueWeights[1], blueWeights[2], blueWeights[3], brownWeights[0], brownWeights[1], brownWeights[2], brownWeights[3], blackWeights[0], blackWeights[1], blackWeights[2], blackWeights[3], yellowWeights[0], yellowWeights[1], yellowWeights[2], yellowWeights[3], whiteWeights[0], whiteWeights[1], whiteWeights[3], whiteWeights[3]);
nolanwagener 5:3dd9b0a35aee 106 }
nolanwagener 5:3dd9b0a35aee 107
nolanwagener 5:3dd9b0a35aee 108 void calibrate(double* weights) {
nolanwagener 5:3dd9b0a35aee 109 int redTotal = 0;
nolanwagener 5:3dd9b0a35aee 110 int greenTotal = 0;
nolanwagener 5:3dd9b0a35aee 111 int blueTotal = 0;
nolanwagener 5:3dd9b0a35aee 112 int clearTotal = 0;
nolanwagener 5:3dd9b0a35aee 113 for(int i = 0; i < NUM_OF_TESTS; i++) {
nolanwagener 5:3dd9b0a35aee 114 colorSensor.readColors();
nolanwagener 5:3dd9b0a35aee 115 redTotal += colorSensor.red();
nolanwagener 5:3dd9b0a35aee 116 greenTotal += colorSensor.green();
nolanwagener 5:3dd9b0a35aee 117 blueTotal += colorSensor.blue();
nolanwagener 5:3dd9b0a35aee 118 clearTotal += colorSensor.clear();
nolanwagener 5:3dd9b0a35aee 119 }
nolanwagener 5:3dd9b0a35aee 120 weights[0] = (double) redTotal;
nolanwagener 5:3dd9b0a35aee 121 weights[1] = (double) greenTotal;
nolanwagener 5:3dd9b0a35aee 122 weights[2] = (double) blueTotal;
nolanwagener 5:3dd9b0a35aee 123 weights[3] = (double) clearTotal;
nolanwagener 5:3dd9b0a35aee 124 normalize(weights);
nolanwagener 5:3dd9b0a35aee 125
nolanwagener 5:3dd9b0a35aee 126
nolanwagener 5:3dd9b0a35aee 127 }
TaintedTruth 1:d481b2912c2a 128
nolanwagener 5:3dd9b0a35aee 129 /*
nolanwagener 5:3dd9b0a35aee 130 void calibrate(int* redWeights, int* greenWeights, int* blueWeights, int* brownWeights, int* blackWeights, int* desiredWeights) {
nolanwagener 5:3dd9b0a35aee 131 colorSensor.readColors();
nolanwagener 5:3dd9b0a35aee 132 int redProduct = colorSensor.dotProduct(redWeights);
nolanwagener 5:3dd9b0a35aee 133 int greenProduct = colorSensor.dotProduct(greenWeights);
nolanwagener 5:3dd9b0a35aee 134 int blueProduct = colorSensor.dotProduct(blueWeights);
nolanwagener 5:3dd9b0a35aee 135 int brownProduct = colorSensor.dotProduct(brownWeights);
nolanwagener 5:3dd9b0a35aee 136 int blackProduct = colorSensor.dotProduct(blackWeights);
nolanwagener 5:3dd9b0a35aee 137 int products[] = {redProduct, greenProduct, blueProduct, brownProduct, blackProduct};
nolanwagener 5:3dd9b0a35aee 138 int maxProduct = max(products);
nolanwagener 5:3dd9b0a35aee 139 char* color;
nolanwagener 5:3dd9b0a35aee 140 if(colorSensor.dotProduct(desiredWeights) == maxProduct) {
nolanwagener 5:3dd9b0a35aee 141 if(redWeights == desiredWeights) {
nolanwagener 5:3dd9b0a35aee 142 color = "Red";
nolanwagener 5:3dd9b0a35aee 143 } else if(greenWeights == desiredWeights) {
nolanwagener 5:3dd9b0a35aee 144 color = "Green";
nolanwagener 5:3dd9b0a35aee 145 } else if(blueWeights == desiredWeights) {
nolanwagener 5:3dd9b0a35aee 146 color = "Blue";
nolanwagener 5:3dd9b0a35aee 147 } else if(brownWeights == desiredWeights) {
nolanwagener 5:3dd9b0a35aee 148 color = "Brown";
nolanwagener 5:3dd9b0a35aee 149 } else if(blackWeights == desiredWeights) {
nolanwagener 5:3dd9b0a35aee 150 color = "Black";
nolanwagener 5:3dd9b0a35aee 151 }
nolanwagener 5:3dd9b0a35aee 152 } else if(redProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 153 correctWeights(redWeights, desiredWeights);
nolanwagener 5:3dd9b0a35aee 154 color = "Red";
nolanwagener 5:3dd9b0a35aee 155 } else if(greenProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 156 correctWeights(greenWeights, desiredWeights);
nolanwagener 5:3dd9b0a35aee 157 color = "Green";
nolanwagener 5:3dd9b0a35aee 158 } else if(blueProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 159 correctWeights(blueWeights, desiredWeights);
nolanwagener 5:3dd9b0a35aee 160 color = "Blue";
nolanwagener 5:3dd9b0a35aee 161 } else if(brownProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 162 correctWeights(brownWeights, desiredWeights);
nolanwagener 5:3dd9b0a35aee 163 color = "Brown";
nolanwagener 5:3dd9b0a35aee 164 } else if(blackProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 165 correctWeights(blackWeights, desiredWeights);
nolanwagener 5:3dd9b0a35aee 166 color = "Black";
nolanwagener 5:3dd9b0a35aee 167 }
nolanwagener 5:3dd9b0a35aee 168 //sendData(color, redWeights, greenWeights, blueWeights, brownWeights, blackWeights);
nolanwagener 5:3dd9b0a35aee 169 } */
nolanwagener 5:3dd9b0a35aee 170
nolanwagener 5:3dd9b0a35aee 171 void measure(double* redWeights, double* greenWeights, double* blueWeights, double* brownWeights, double* blackWeights, double* yellowWeights, double* whiteWeights) {
nolanwagener 5:3dd9b0a35aee 172 colorSensor.readColors();
nolanwagener 5:3dd9b0a35aee 173 double redProduct = colorSensor.dotProduct(redWeights);
nolanwagener 5:3dd9b0a35aee 174 double greenProduct = colorSensor.dotProduct(greenWeights);
nolanwagener 5:3dd9b0a35aee 175 double blueProduct = colorSensor.dotProduct(blueWeights);
nolanwagener 5:3dd9b0a35aee 176 double brownProduct = colorSensor.dotProduct(brownWeights);
nolanwagener 5:3dd9b0a35aee 177 double blackProduct = colorSensor.dotProduct(blackWeights);
nolanwagener 5:3dd9b0a35aee 178 double yellowProduct = colorSensor.dotProduct(yellowWeights);
nolanwagener 5:3dd9b0a35aee 179 double whiteProduct = colorSensor.dotProduct(whiteWeights);
nolanwagener 5:3dd9b0a35aee 180 double products[] = {redProduct, greenProduct, blueProduct, brownProduct, blackProduct, yellowProduct, whiteProduct};
nolanwagener 5:3dd9b0a35aee 181 double maxProduct = max(products);
nolanwagener 5:3dd9b0a35aee 182 char* color;
nolanwagener 5:3dd9b0a35aee 183 if(redProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 184 color = "Red";
nolanwagener 5:3dd9b0a35aee 185 } else if(greenProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 186 color = "Green";
nolanwagener 5:3dd9b0a35aee 187 } else if(blueProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 188 color = "Blue";
nolanwagener 5:3dd9b0a35aee 189 } else if(brownProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 190 color = "Brown";
nolanwagener 5:3dd9b0a35aee 191 } else if(blackProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 192 color = "Black";
nolanwagener 5:3dd9b0a35aee 193 } else if(yellowProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 194 color = "Yellow";
nolanwagener 5:3dd9b0a35aee 195 } else if(whiteProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 196 color = "White";
nolanwagener 5:3dd9b0a35aee 197 }
nolanwagener 5:3dd9b0a35aee 198 sendData(color, redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
TaintedTruth 2:5c0159599726 199 }
TaintedTruth 0:1eada136b388 200
nolanwagener 5:3dd9b0a35aee 201
nolanwagener 5:3dd9b0a35aee 202 void measure(int* redWeights, int* greenWeights, int* blueWeights, int* brownWeights, int* blackWeights, int* yellowWeights, int* whiteWeights) {
nolanwagener 5:3dd9b0a35aee 203 colorSensor.readColors();
nolanwagener 5:3dd9b0a35aee 204 int redProduct = colorSensor.dotProduct(redWeights);
nolanwagener 5:3dd9b0a35aee 205 int greenProduct = colorSensor.dotProduct(greenWeights);
nolanwagener 5:3dd9b0a35aee 206 int blueProduct = colorSensor.dotProduct(blueWeights);
nolanwagener 5:3dd9b0a35aee 207 int brownProduct = colorSensor.dotProduct(brownWeights);
nolanwagener 5:3dd9b0a35aee 208 int blackProduct = colorSensor.dotProduct(blackWeights);
nolanwagener 5:3dd9b0a35aee 209 int yellowProduct = colorSensor.dotProduct(yellowWeights);
nolanwagener 5:3dd9b0a35aee 210 int whiteProduct = colorSensor.dotProduct(whiteWeights);
nolanwagener 5:3dd9b0a35aee 211 int products[] = {redProduct, greenProduct, blueProduct, brownProduct, blackProduct, yellowProduct, whiteProduct};
nolanwagener 5:3dd9b0a35aee 212 int maxProduct = max(products);
nolanwagener 5:3dd9b0a35aee 213 char* color;
nolanwagener 5:3dd9b0a35aee 214 if(redProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 215 color = "Red";
nolanwagener 5:3dd9b0a35aee 216 } else if(greenProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 217 color = "Green";
nolanwagener 5:3dd9b0a35aee 218 } else if(blueProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 219 color = "Blue";
nolanwagener 5:3dd9b0a35aee 220 } else if(brownProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 221 color = "Brown";
nolanwagener 5:3dd9b0a35aee 222 } else if(blackProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 223 color = "Black";
nolanwagener 5:3dd9b0a35aee 224 } else if(yellowProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 225 color = "Yellow";
nolanwagener 5:3dd9b0a35aee 226 } else if(whiteProduct == maxProduct) {
nolanwagener 5:3dd9b0a35aee 227 color = "White";
nolanwagener 5:3dd9b0a35aee 228 }
nolanwagener 5:3dd9b0a35aee 229 sendData(color, redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 230 }
nolanwagener 5:3dd9b0a35aee 231
nolanwagener 7:10e1ec0e8179 232 void setParameters() {
nolanwagener 7:10e1ec0e8179 233 int r_cap, g_cap, b_cap, c_cap, r_int, g_int, b_int, c_int;
nolanwagener 7:10e1ec0e8179 234 bt.scanf("%d,%d,%d,%d,%x,%x,%x,%x\r", &r_cap, &g_cap, &b_cap, &c_cap, &r_int, &g_int, &b_int, &c_int);
nolanwagener 7:10e1ec0e8179 235 colorSensor.setCapacitors(r_cap, g_cap, b_cap, c_cap);
nolanwagener 7:10e1ec0e8179 236 colorSensor.setIntegrationTimeSlot(r_int, g_int, b_int, c_int);
nolanwagener 7:10e1ec0e8179 237 }
nolanwagener 7:10e1ec0e8179 238
nolanwagener 7:10e1ec0e8179 239 void getParameters() {
nolanwagener 7:10e1ec0e8179 240 bt.printf("%d,%d,%d,%d,%x,%x,%x,%x\r", colorSensor.redCap(), colorSensor.greenCap(), colorSensor.blueCap(), colorSensor.clearCap(), colorSensor.redInt(), colorSensor.greenInt(), colorSensor.blueInt(), colorSensor.clearInt());
nolanwagener 7:10e1ec0e8179 241 }
nolanwagener 7:10e1ec0e8179 242
nolanwagener 7:10e1ec0e8179 243 void optimizeParameters() {
nolanwagener 7:10e1ec0e8179 244 int redDes, greenDes, blueDes, clearDes;
nolanwagener 7:10e1ec0e8179 245 bt.scanf("%d,%d,%d,%d\r", &redDes, &greenDes, &blueDes, &clearDes);
nolanwagener 7:10e1ec0e8179 246 colorSensor.optimise(redDes, greenDes, blueDes, clearDes);
nolanwagener 7:10e1ec0e8179 247 }
nolanwagener 5:3dd9b0a35aee 248
nolanwagener 5:3dd9b0a35aee 249
TaintedTruth 0:1eada136b388 250 int main() {
TaintedTruth 0:1eada136b388 251
TaintedTruth 2:5c0159599726 252 bt.baud(115200);
nolanwagener 5:3dd9b0a35aee 253 colorSensor.setIntegrationTimeSlot(0xff, 0xf0, 0xff, 0xff);
nolanwagener 5:3dd9b0a35aee 254 colorSensor.setCapacitors(12, 7, 2, 9);
nolanwagener 5:3dd9b0a35aee 255 //colorSensor.setIntegrationTimeSlot(0xff, 0x110, 0x104, 0xff);
nolanwagener 5:3dd9b0a35aee 256 //colorSensor.setCapacitors(7, 7, 7, 7);
nolanwagener 5:3dd9b0a35aee 257
nolanwagener 5:3dd9b0a35aee 258
nolanwagener 5:3dd9b0a35aee 259 /*
nolanwagener 5:3dd9b0a35aee 260 int redWeights[] = {100, -50, -50};
nolanwagener 5:3dd9b0a35aee 261 int greenWeights[] = {-50, 100, -50};
nolanwagener 5:3dd9b0a35aee 262 int blueWeights[] = {-50, -50, 100};
nolanwagener 5:3dd9b0a35aee 263 int brownWeights[] = {1, 0, 1};
nolanwagener 5:3dd9b0a35aee 264 int blackWeights[] = {1, 1, 1};
nolanwagener 5:3dd9b0a35aee 265 double redWeights[] = {311.4, 233.2, 217.6};
nolanwagener 5:3dd9b0a35aee 266 */
nolanwagener 5:3dd9b0a35aee 267 double redWeights[] = {318.8, 242.6, 227.4, 712.4};
nolanwagener 5:3dd9b0a35aee 268 double greenWeights[] = {206.2, 258.2, 242.6, 640.4};
nolanwagener 5:3dd9b0a35aee 269 double blueWeights[] = {190.8, 223.4, 307.6, 630.8};
nolanwagener 5:3dd9b0a35aee 270 double brownWeights[] = {-205.6, -215.0, -212.4, -588.0};
nolanwagener 5:3dd9b0a35aee 271 double blackWeights[] = {175.6, 187.6, 196.8, 530.4};
nolanwagener 5:3dd9b0a35aee 272 double yellowWeights[] = {480.8, 542.6, 315.8, 1021.2};
nolanwagener 5:3dd9b0a35aee 273 double whiteWeights[] = {455.6, 584.8, 578.8, 1021.8};
nolanwagener 5:3dd9b0a35aee 274
nolanwagener 5:3dd9b0a35aee 275
nolanwagener 5:3dd9b0a35aee 276 normalize(redWeights); normalize(greenWeights); normalize(blueWeights); normalize(brownWeights); normalize(blackWeights); normalize(yellowWeights); normalize(whiteWeights);
nolanwagener 5:3dd9b0a35aee 277 int message;
TaintedTruth 0:1eada136b388 278
TaintedTruth 0:1eada136b388 279 while(1) {
nolanwagener 5:3dd9b0a35aee 280 //takeMeasurements(20);
TaintedTruth 1:d481b2912c2a 281
TaintedTruth 3:b3c41c85fb1e 282
nolanwagener 5:3dd9b0a35aee 283 message = bt.getc();
nolanwagener 5:3dd9b0a35aee 284 //bt.printf("\r%d\r", message);
TaintedTruth 0:1eada136b388 285
nolanwagener 5:3dd9b0a35aee 286 switch(message) {
nolanwagener 5:3dd9b0a35aee 287 case RED:
nolanwagener 5:3dd9b0a35aee 288 calibrate(redWeights);
nolanwagener 5:3dd9b0a35aee 289 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 290 break;
nolanwagener 5:3dd9b0a35aee 291 case GREEN:
nolanwagener 5:3dd9b0a35aee 292 calibrate(greenWeights);
nolanwagener 5:3dd9b0a35aee 293 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 294 break;
nolanwagener 5:3dd9b0a35aee 295 case BLUE:
nolanwagener 5:3dd9b0a35aee 296 calibrate(blueWeights);
nolanwagener 5:3dd9b0a35aee 297 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 298 break;
nolanwagener 5:3dd9b0a35aee 299 case BROWN:
nolanwagener 5:3dd9b0a35aee 300 calibrate(brownWeights);
nolanwagener 5:3dd9b0a35aee 301 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 302 break;
nolanwagener 5:3dd9b0a35aee 303 case BLACK:
nolanwagener 5:3dd9b0a35aee 304 calibrate(blackWeights);
nolanwagener 5:3dd9b0a35aee 305 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 306 break;
nolanwagener 5:3dd9b0a35aee 307 case YELLOW:
nolanwagener 5:3dd9b0a35aee 308 calibrate(yellowWeights);
nolanwagener 5:3dd9b0a35aee 309 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 310 break;
nolanwagener 5:3dd9b0a35aee 311 case WHITE:
nolanwagener 5:3dd9b0a35aee 312 calibrate(whiteWeights);
nolanwagener 5:3dd9b0a35aee 313 sendData("", redWeights, greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 314 break;
nolanwagener 5:3dd9b0a35aee 315 case TEST:
nolanwagener 5:3dd9b0a35aee 316 measure(redWeights,greenWeights, blueWeights, brownWeights, blackWeights, yellowWeights, whiteWeights);
nolanwagener 5:3dd9b0a35aee 317 break;
nolanwagener 7:10e1ec0e8179 318 case SET_PARAMETERS:
nolanwagener 7:10e1ec0e8179 319 setParameters();
nolanwagener 7:10e1ec0e8179 320 break;
nolanwagener 7:10e1ec0e8179 321 case GET_PARAMETERS:
nolanwagener 7:10e1ec0e8179 322 getParameters();
nolanwagener 7:10e1ec0e8179 323 break;
nolanwagener 7:10e1ec0e8179 324 case OPTIMIZE_PARAMETERS:
nolanwagener 7:10e1ec0e8179 325 optimizeParameters();
nolanwagener 7:10e1ec0e8179 326 break;
nolanwagener 5:3dd9b0a35aee 327 default:
nolanwagener 5:3dd9b0a35aee 328 break;
nolanwagener 5:3dd9b0a35aee 329 }
TaintedTruth 0:1eada136b388 330 }
nolanwagener 5:3dd9b0a35aee 331
TaintedTruth 0:1eada136b388 332 }