Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Sensors/Colour/Colour.h@20:70d651156779, 2013-04-09 (annotated)

Committer:
madcowswe
Date:
Tue Apr 09 15:33:36 2013 +0000
Revision:
20:70d651156779
Parent:
7:4340355261f9 
Predict loop running, update loop not done.

Who changed what in which revision?

UserRevisionLine numberNew 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
twighk 3:717de74f6ebd 9 enum ColourEnum {BLUE, RED, WHITE, INCONCLUSIVE, BUG};
twighk 3:717de74f6ebd 10
twighk 3:717de74f6ebd 11 class Colour{
twighk 3:717de74f6ebd 12 private:
madcowswe 7:4340355261f9 13 DigitalOut blue; float bavg, bstdev;
madcowswe 7:4340355261f9 14 DigitalOut red; float ravg, rstdev;
madcowswe 7:4340355261f9 15 AnalogIn pt;
twighk 3:717de74f6ebd 16
twighk 3:717de74f6ebd 17 public:
twighk 3:717de74f6ebd 18 Colour(PinName bluePin, PinName redPin, PinName phototransistorPin)
twighk 3:717de74f6ebd 19 : blue(bluePin)
twighk 3:717de74f6ebd 20 , red (redPin)
twighk 3:717de74f6ebd 21 , pt (phototransistorPin)
twighk 3:717de74f6ebd 22 {
twighk 3:717de74f6ebd 23 LedsOff();
twighk 3:717de74f6ebd 24 }
twighk 3:717de74f6ebd 25
twighk 3:717de74f6ebd 26 void Calibrate(){
twighk 3:717de74f6ebd 27 ReadLed(blue, bavg, bstdev);
twighk 3:717de74f6ebd 28 ReadLed( red, ravg, rstdev);
twighk 3:717de74f6ebd 29 }
twighk 3:717de74f6ebd 30
twighk 3:717de74f6ebd 31 ColourEnum getColour(){
twighk 3:717de74f6ebd 32 bool blueb = isColour(blue, bavg, bstdev)
twighk 3:717de74f6ebd 33 , redb = isColour( red, ravg, rstdev);
twighk 3:717de74f6ebd 34
twighk 3:717de74f6ebd 35 if ( blueb && redb)
twighk 3:717de74f6ebd 36 {return WHITE;}
twighk 3:717de74f6ebd 37 else if ( blueb && !redb)
twighk 3:717de74f6ebd 38 {return BLUE;}
twighk 3:717de74f6ebd 39 else if (!blueb && redb)
twighk 3:717de74f6ebd 40 {return RED;}
twighk 3:717de74f6ebd 41 else if (!blueb && !redb)
twighk 3:717de74f6ebd 42 {return INCONCLUSIVE;}
twighk 3:717de74f6ebd 43 return BUG;
twighk 3:717de74f6ebd 44 }
twighk 3:717de74f6ebd 45
twighk 3:717de74f6ebd 46 private:
madcowswe 7:4340355261f9 47 void LedsOff(){blue = 0; red = 0;}
madcowswe 7:4340355261f9 48 void ReadLed (DigitalOut &led, float &avg, float &stdev, const int measureNum = 25); // Colour.cpp
madcowswe 7:4340355261f9 49 bool isColour(DigitalOut &led, const float &avg, const float &stdev, const float numstddev = 2); // Colour.cpp
twighk 3:717de74f6ebd 50
twighk 3:717de74f6ebd 51 };