Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of ICRSEurobot13 by
Sensors/Colour/Colour.h
- Committer:
- xiaxia686
- Date:
- 2013-04-12
- Revision:
- 45:77cf6375348a
- Parent:
- 21:c592bf6a6a2d
File content as of revision 45:77cf6375348a:
// Eurobot13 Colour.h #ifndef COLOUR_H #define COLOUR_H #include "mbed.h" #include "globals.h" #include "math.h" #define BUFF_SIZE 10 #define SNR_THRESHOLD_DB 4 #define UPPERARM_CORRECTION 2.310f #define LOWERARM_CORRECTION 1.000f enum ColourEnum {BLUE=0, RED, WHITE, BLACK}; enum ArmEnum {UPPER=0, LOWER}; class Colour{ public: Colour( PinName blue_led, PinName red_led, PinName pt, ArmEnum arm); virtual ColourEnum getColour(); private: Ticker ticker; DigitalOut blue_led; DigitalOut red_led; AnalogIn pt; ArmEnum arm; float red_correction_factor; float colour; float SNR; void Blink(); int togglecolour; float blue; float blue_buff[BUFF_SIZE]; float red; float red_buff[BUFF_SIZE]; float noise; float noise_buff[BUFF_SIZE]; int buff_pointer; }; #endif