ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Sensors/Colour/Colour.h@5:56a5fdd373c9, 2013-04-04 (annotated)
- Committer:
- madcowswe
- Date:
- Thu Apr 04 14:44:14 2013 +0000
- Revision:
- 5:56a5fdd373c9
- Parent:
- 4:1be0f6c6ceae
- Child:
- 7:4340355261f9
Removed e stop button code, as power will be used through the button instead.
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 | |
madcowswe | 5:56a5fdd373c9 | 4 | //red led use 45ohm |
madcowswe | 5:56a5fdd373c9 | 5 | //blue led use 10ohm |
madcowswe | 5:56a5fdd373c9 | 6 | |
twighk | 3:717de74f6ebd | 7 | #include "mbed.h" |
twighk | 3:717de74f6ebd | 8 | #include "Led.h" |
twighk | 3:717de74f6ebd | 9 | #include "Phototransistor.h" |
twighk | 3:717de74f6ebd | 10 | |
twighk | 3:717de74f6ebd | 11 | enum ColourEnum {BLUE, RED, WHITE, INCONCLUSIVE, BUG}; |
twighk | 3:717de74f6ebd | 12 | |
twighk | 3:717de74f6ebd | 13 | class Colour{ |
twighk | 3:717de74f6ebd | 14 | private: |
twighk | 3:717de74f6ebd | 15 | Led blue; float bavg, bstdev; |
twighk | 3:717de74f6ebd | 16 | Led red; float ravg, rstdev; |
twighk | 3:717de74f6ebd | 17 | Phototransistor pt; |
twighk | 3:717de74f6ebd | 18 | |
twighk | 3:717de74f6ebd | 19 | public: |
twighk | 3:717de74f6ebd | 20 | Colour(PinName bluePin, PinName redPin, PinName phototransistorPin) |
twighk | 3:717de74f6ebd | 21 | : blue(bluePin) |
twighk | 3:717de74f6ebd | 22 | , red (redPin) |
twighk | 3:717de74f6ebd | 23 | , pt (phototransistorPin) |
twighk | 3:717de74f6ebd | 24 | { |
twighk | 3:717de74f6ebd | 25 | LedsOff(); |
twighk | 3:717de74f6ebd | 26 | } |
twighk | 3:717de74f6ebd | 27 | |
twighk | 3:717de74f6ebd | 28 | void Calibrate(){ |
twighk | 3:717de74f6ebd | 29 | ReadLed(blue, bavg, bstdev); |
twighk | 3:717de74f6ebd | 30 | ReadLed( red, ravg, rstdev); |
twighk | 3:717de74f6ebd | 31 | } |
twighk | 3:717de74f6ebd | 32 | |
twighk | 3:717de74f6ebd | 33 | ColourEnum getColour(){ |
twighk | 3:717de74f6ebd | 34 | bool blueb = isColour(blue, bavg, bstdev) |
twighk | 3:717de74f6ebd | 35 | , redb = isColour( red, ravg, rstdev); |
twighk | 3:717de74f6ebd | 36 | |
twighk | 3:717de74f6ebd | 37 | if ( blueb && redb) |
twighk | 3:717de74f6ebd | 38 | {return WHITE;} |
twighk | 3:717de74f6ebd | 39 | else if ( blueb && !redb) |
twighk | 3:717de74f6ebd | 40 | {return BLUE;} |
twighk | 3:717de74f6ebd | 41 | else if (!blueb && redb) |
twighk | 3:717de74f6ebd | 42 | {return RED;} |
twighk | 3:717de74f6ebd | 43 | else if (!blueb && !redb) |
twighk | 3:717de74f6ebd | 44 | {return INCONCLUSIVE;} |
twighk | 3:717de74f6ebd | 45 | return BUG; |
twighk | 3:717de74f6ebd | 46 | } |
twighk | 3:717de74f6ebd | 47 | |
twighk | 3:717de74f6ebd | 48 | private: |
twighk | 3:717de74f6ebd | 49 | void LedsOff(){blue.off(); red.off();} |
twighk | 4:1be0f6c6ceae | 50 | void ReadLed (Led &led, float &avg, float &stdev, const int measureNum = 25); // Colour.cpp |
twighk | 4:1be0f6c6ceae | 51 | bool isColour(Led &led, const float &avg, const float &stdev, const float numstddev = 2); // Colour.cpp |
twighk | 3:717de74f6ebd | 52 | |
twighk | 3:717de74f6ebd | 53 | }; |