color.cpp

00001 #include "mbed.h"
00002 #include "color.h"
00003     ColorSensor::ColorSensor(PinName ss0, PinName ss1, PinName ss2, PinName ss3, PinName sout):
00004     s0(ss0), s1(ss1), s2(ss2), s3(ss3), _out(sout)
00005     {
00006         s0.write(1);
00007         s1.write(1);
00008         s2.write(0);
00009         s3.write(0);
00010         interrupted = 12345;
00011         countR = counter;
00012         countG = counter;
00013         countB = counter;
00014         counter = 0;
00015         flag = 0;
00016         _out.mode(PullUp);
00017         _out.rise(this, &ColorSensor::incCount);
00018         ts.attach(this, &ColorSensor::getReading, .01);
00019         
00020     }
00021     
00022         int ColorSensor::getRed()
00023         {
00024             return countR;
00025         }
00026         int ColorSensor::getBlue()
00027         {
00028             return countB;    
00029         }
00030         int ColorSensor::getGreen()
00031         {
00032             return countG;
00033         }
00034         void ColorSensor::incCount()
00035         {
00036             counter++;
00037         }
00038         void ColorSensor::getReading()
00039         {
00040            
00041             flag++;
00042             if(flag == 1)
00043             {
00044                 countR = counter;
00045                 s2.write(1);
00046                 s3.write(1);
00047             }
00048             else if(flag == 2)
00049             {
00050                 countG = counter;
00051                 s2.write(0);
00052                 s3.write(1);
00053             }
00054             else if(flag ==3)
00055             {
00056                 countB = counter;
00057                 s2.write(0);
00058                 s3.write(0);
00059             }
00060             else if(flag == 4)
00061             {
00062                 flag = 0;
00063             }
00064             counter = 0;
00065                 
00066         }
00067         
00068         
00069         void ColorSensor::poll()
00070         {
00071               
00072             ColorSensor::getReading();
00073             
00074         }
00075                 
00076