Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of ICRSEurobot13 by
Sensors/Colour/Colour.cpp
- Committer:
- madcowswe
- Date:
- 2013-04-10
- Revision:
- 26:b16f1045108f
- Parent:
- 7:4340355261f9
- Child:
- 21:c592bf6a6a2d
File content as of revision 26:b16f1045108f:
// Eurobot13 Colour.cpp #include "Colour.h" void Colour::ReadLed (DigitalOut &led, float &avg, float &stdev, const int measureNum){ LedsOff(); led = 1; double x = 0, x2 = 0; for (int i = measureNum; i != 0; i--) { float v = pt.read(); x += v; x2+= v*v; } avg = x / measureNum; stdev = sqrt(x2 / measureNum - avg*avg); LedsOff(); //pc.printf("Phototransistor Analog is: %f\t%f\n\r", avg, stdev); } bool Colour::isColour(DigitalOut &led, const float &avg, const float &stdev, const float numstddev){ float avg2, stdev2; ReadLed(led, avg2, stdev2); if (avg + numstddev*stdev < avg2 - numstddev*stdev2) { return true; } else { return false; } }