James Hilder / PsiSwarmV9-Fork

Psi Swarm robot library version 0.9

Fork of PsiSwarmV9 by Psi Swarm Robot

colour.cpp@20:1bc6c6dc477b, 2018-05-14 (annotated)

Committer:
jah128
Date:
Mon May 14 15:35:38 2018 +0000
Revision:
20:1bc6c6dc477b
Parent:
18:9204f74069b4 
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jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Colour Sensors Source File
jah128 15:66be5ec52c3b 2 *
jah128 14:2f1ad77d281e 3 * Copyright 2017 University of York
jah128 6:b340a527add9 4 *
jah128 15:66be5ec52c3b 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 15:66be5ec52c3b 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 6:b340a527add9 10 *
jah128 0:d6269d17c8cf 11 * File: colour.cpp
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 14:2f1ad77d281e 16 * PsiSwarm Library Version: 0.9
jah128 0:d6269d17c8cf 17 *
jah128 14:2f1ad77d281e 18 * June 2017
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 */
jah128 0:d6269d17c8cf 21
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 // Base colour sensor is a TCS34725
jah128 0:d6269d17c8cf 24 // Top colour sensor (if fitted) is a TCS34721
jah128 0:d6269d17c8cf 25 #include "psiswarm.h"
jah128 0:d6269d17c8cf 26
jah128 15:66be5ec52c3b 27 int last_detected_colour = -1;
jah128 0:d6269d17c8cf 28
jah128 17:bf614e28668f 29 int cs_c_black,cs_r_black,cs_g_black,cs_b_black,cs_c_white,cs_r_white,cs_g_white,cs_b_white;
jah128 17:bf614e28668f 30
jah128 17:bf614e28668f 31 void Colour::set_calibration_values(int c_black,int r_black,int g_black,int b_black,int c_white,int r_white,int g_white,int b_white){
jah128 17:bf614e28668f 32 cs_c_black = c_black;
jah128 17:bf614e28668f 33 cs_r_black = r_black;
jah128 17:bf614e28668f 34 cs_g_black = g_black;
jah128 17:bf614e28668f 35 cs_b_black = b_black;
jah128 17:bf614e28668f 36 cs_c_white = c_white;
jah128 17:bf614e28668f 37 cs_r_white = r_white;
jah128 17:bf614e28668f 38 cs_g_white = g_white;
jah128 17:bf614e28668f 39 cs_b_white = b_white;
jah128 17:bf614e28668f 40 }
jah128 17:bf614e28668f 41
jah128 16:50686c07ad07 42 void Colour::colour_sensor_init()
jah128 16:50686c07ad07 43 {
jah128 17:bf614e28668f 44 colour.set_base_colour_sensor_integration_time(BASE_COLOUR_SENSOR_INTEGRATION_TIME);
jah128 17:bf614e28668f 45 colour.set_base_colour_sensor_gain(BASE_COLOUR_SENSOR_GAIN);
jah128 16:50686c07ad07 46 }
jah128 16:50686c07ad07 47
jah128 15:66be5ec52c3b 48 void Colour::read_base_colour_sensor_values(int * store_array)
jah128 15:66be5ec52c3b 49 {
jah128 15:66be5ec52c3b 50 char buffer[8] = { 0 };
jah128 15:66be5ec52c3b 51 IF_readMultipleRegisters( CDATA, buffer, 8 );
jah128 15:66be5ec52c3b 52 store_array[0] = (int)buffer[1] << 8 | (int)buffer[0];
jah128 15:66be5ec52c3b 53 store_array[1] = (int)buffer[3] << 8 | (int)buffer[2];
jah128 15:66be5ec52c3b 54 store_array[2] = (int)buffer[5] << 8 | (int)buffer[4];
jah128 15:66be5ec52c3b 55 store_array[3] = (int)buffer[7] << 8 | (int)buffer[6];
jah128 15:66be5ec52c3b 56 }
jah128 15:66be5ec52c3b 57
jah128 15:66be5ec52c3b 58 void Colour::set_base_colour_sensor_gain(char gain)
jah128 15:66be5ec52c3b 59 {
jah128 15:66be5ec52c3b 60 char control;
jah128 15:66be5ec52c3b 61 int ack = 0;
jah128 15:66be5ec52c3b 62 switch (gain) {
jah128 15:66be5ec52c3b 63 case 1:
jah128 15:66be5ec52c3b 64 control = 0;
jah128 15:66be5ec52c3b 65 break;
jah128 15:66be5ec52c3b 66 case 4:
jah128 15:66be5ec52c3b 67 control = 1;
jah128 15:66be5ec52c3b 68 break;
jah128 15:66be5ec52c3b 69 case 16:
jah128 15:66be5ec52c3b 70 control = 2;
jah128 15:66be5ec52c3b 71 break;
jah128 15:66be5ec52c3b 72 case 60:
jah128 15:66be5ec52c3b 73 control = 3;
jah128 15:66be5ec52c3b 74 break;
jah128 15:66be5ec52c3b 75 default:
jah128 15:66be5ec52c3b 76 ack = 2; // 2 used to indicate invalid entry
jah128 15:66be5ec52c3b 77 break;
jah128 15:66be5ec52c3b 78 }
jah128 15:66be5ec52c3b 79 if ( ack != 2 ) {
jah128 15:66be5ec52c3b 80 ack = IF_writeSingleRegister( CONTROL, control );
jah128 15:66be5ec52c3b 81 }
jah128 0:d6269d17c8cf 82 }
jah128 0:d6269d17c8cf 83
jah128 15:66be5ec52c3b 84 void Colour::set_base_colour_sensor_integration_time(char int_time)
jah128 15:66be5ec52c3b 85 {
jah128 15:66be5ec52c3b 86 char atime = 256 - IF_roundTowardsZero( int_time / 2.4 ); // rounding ensures nearest value of atime is used
jah128 15:66be5ec52c3b 87 int ack = IF_writeSingleRegister( ATIME, atime );
jah128 15:66be5ec52c3b 88 }
jah128 15:66be5ec52c3b 89
jah128 15:66be5ec52c3b 90 float Colour::IF_roundTowardsZero( const float value )
jah128 15:66be5ec52c3b 91 {
jah128 15:66be5ec52c3b 92 float result = 0;
jah128 15:66be5ec52c3b 93 if ( ( value >= 0 && ( value - (int)value ) < 0.5 ) || ( value < 0 && ( abs(value) - (int)abs(value) ) >= 0.5 ) ) {
jah128 15:66be5ec52c3b 94 result = floor(value);
jah128 15:66be5ec52c3b 95 } else {
jah128 15:66be5ec52c3b 96 result = ceil(value);
jah128 15:66be5ec52c3b 97 }
jah128 15:66be5ec52c3b 98 return result;
jah128 15:66be5ec52c3b 99 }
jah128 15:66be5ec52c3b 100
jah128 15:66be5ec52c3b 101 void Colour::enable_base_colour_sensor(void)
jah128 15:66be5ec52c3b 102 {
jah128 15:66be5ec52c3b 103 char enable_old = IF_readSingleRegister( ENABLE );
jah128 15:66be5ec52c3b 104 char enable_new = enable_old | 3; // sets PON (bit 0) and AEN (bit 1) to 1
jah128 15:66be5ec52c3b 105 int ack = IF_writeSingleRegister( ENABLE, enable_new );
jah128 15:66be5ec52c3b 106 }
jah128 15:66be5ec52c3b 107
jah128 15:66be5ec52c3b 108
jah128 15:66be5ec52c3b 109 void Colour::disable_base_colour_sensor(void)
jah128 15:66be5ec52c3b 110 {
jah128 15:66be5ec52c3b 111 char enable_old = IF_readSingleRegister( ENABLE );
jah128 15:66be5ec52c3b 112 char enable_new = enable_old & 252; // sets PON (bit 0) and AEN (bit 1) to 0
jah128 15:66be5ec52c3b 113 int ack = IF_writeSingleRegister( ENABLE, enable_new );
jah128 15:66be5ec52c3b 114 }
jah128 15:66be5ec52c3b 115
jah128 15:66be5ec52c3b 116 Timeout colour_ticker;
jah128 15:66be5ec52c3b 117 int colour_ticker_period;
jah128 15:66be5ec52c3b 118 int colour_ticker_on = 0;
jah128 15:66be5ec52c3b 119
jah128 15:66be5ec52c3b 120 void Colour::start_colour_ticker(int period_ms)
jah128 15:66be5ec52c3b 121 {
jah128 15:66be5ec52c3b 122 colour_ticker_on = 1;
jah128 15:66be5ec52c3b 123 colour_ticker_period = period_ms;
jah128 15:66be5ec52c3b 124 colour_ticker.attach_us(this,&Colour::IF_colour_ticker_start, 100);
jah128 15:66be5ec52c3b 125 }
jah128 15:66be5ec52c3b 126
jah128 16:50686c07ad07 127 void Colour::stop_colour_ticker()
jah128 16:50686c07ad07 128 {
jah128 16:50686c07ad07 129 colour_ticker_on = 0;
jah128 16:50686c07ad07 130 colour_ticker.detach();
jah128 16:50686c07ad07 131 }
jah128 16:50686c07ad07 132
jah128 15:66be5ec52c3b 133 void Colour::IF_colour_ticker_start()
jah128 15:66be5ec52c3b 134 {
jah128 15:66be5ec52c3b 135 led.set_base_led(1);
jah128 15:66be5ec52c3b 136 enable_base_colour_sensor();
jah128 15:66be5ec52c3b 137 colour_ticker.attach_us(this,&Colour::IF_colour_ticker_main, 25000);
jah128 0:d6269d17c8cf 138 }
jah128 0:d6269d17c8cf 139
jah128 15:66be5ec52c3b 140 void Colour::IF_colour_ticker_main()
jah128 15:66be5ec52c3b 141 {
jah128 15:66be5ec52c3b 142 int rgb_readings [4];
jah128 15:66be5ec52c3b 143 read_base_colour_sensor_values( rgb_readings );
jah128 15:66be5ec52c3b 144 disable_base_colour_sensor();
jah128 15:66be5ec52c3b 145 led.set_base_led(0);
jah128 15:66be5ec52c3b 146 if(rgb_readings[1] > 0 && rgb_readings[1] < 1024 && rgb_readings[2] > 0 && rgb_readings[2] < 1024 && rgb_readings[3] > 0 && rgb_readings[3] < 1024) {
jah128 15:66be5ec52c3b 147 float adjusted[4];
jah128 15:66be5ec52c3b 148 get_calibrated_colour(rgb_readings,adjusted);
jah128 15:66be5ec52c3b 149 last_detected_colour = identify_colour_from_calibrated_colour_scores(adjusted);
jah128 15:66be5ec52c3b 150 }
jah128 15:66be5ec52c3b 151 if(colour_ticker_on == 1)colour_ticker.attach_us(this,&Colour::IF_colour_ticker_start, colour_ticker_period * 1000);
jah128 15:66be5ec52c3b 152 }
jah128 15:66be5ec52c3b 153
jah128 15:66be5ec52c3b 154
jah128 15:66be5ec52c3b 155
jah128 15:66be5ec52c3b 156 int Colour::detect_colour_once()
jah128 15:66be5ec52c3b 157 {
jah128 15:66be5ec52c3b 158 int rgb_readings [4];
jah128 15:66be5ec52c3b 159 led.set_base_led(1);
jah128 15:66be5ec52c3b 160 enable_base_colour_sensor();
jah128 15:66be5ec52c3b 161 wait(0.03);
jah128 15:66be5ec52c3b 162 read_base_colour_sensor_values( rgb_readings );
jah128 15:66be5ec52c3b 163 disable_base_colour_sensor();
jah128 15:66be5ec52c3b 164 led.set_base_led(0);
jah128 15:66be5ec52c3b 165 if(rgb_readings[1] < 1 || rgb_readings[1] > 1022 || rgb_readings[2] < 1 || rgb_readings[2] > 1022 || rgb_readings[3] < 1 || rgb_readings[3] > 1022) return -1;
jah128 15:66be5ec52c3b 166 float adjusted[4];
jah128 15:66be5ec52c3b 167 get_calibrated_colour(rgb_readings,adjusted);
jah128 15:66be5ec52c3b 168 last_detected_colour = identify_colour_from_calibrated_colour_scores(adjusted);
jah128 15:66be5ec52c3b 169 return last_detected_colour;
jah128 15:66be5ec52c3b 170 }
jah128 15:66be5ec52c3b 171
jah128 15:66be5ec52c3b 172 int Colour::get_detected_colour()
jah128 15:66be5ec52c3b 173 {
jah128 15:66be5ec52c3b 174 return last_detected_colour;
jah128 0:d6269d17c8cf 175 }
jah128 0:d6269d17c8cf 176
jah128 15:66be5ec52c3b 177 const char * Colour::get_colour_string(int colour_index)
jah128 15:66be5ec52c3b 178 {
jah128 15:66be5ec52c3b 179 switch(colour_index) {
jah128 15:66be5ec52c3b 180 case 0:
jah128 15:66be5ec52c3b 181 return "RED ";
jah128 15:66be5ec52c3b 182 case 1:
jah128 15:66be5ec52c3b 183 return "YELLOW ";
jah128 15:66be5ec52c3b 184 case 2:
jah128 15:66be5ec52c3b 185 return "GREEN ";
jah128 15:66be5ec52c3b 186 case 3:
jah128 15:66be5ec52c3b 187 return "CYAN ";
jah128 15:66be5ec52c3b 188 case 4:
jah128 15:66be5ec52c3b 189 return "BLUE ";
jah128 15:66be5ec52c3b 190 case 5:
jah128 15:66be5ec52c3b 191 return "MAGENTA";
jah128 15:66be5ec52c3b 192 case 6:
jah128 15:66be5ec52c3b 193 return "WHITE ";
jah128 15:66be5ec52c3b 194 case 7:
jah128 15:66be5ec52c3b 195 return "BLACK ";
jah128 15:66be5ec52c3b 196 }
jah128 15:66be5ec52c3b 197 return "-------";
jah128 0:d6269d17c8cf 198 }
jah128 0:d6269d17c8cf 199
jah128 15:66be5ec52c3b 200 void Colour::get_calibrated_colour(int * colour_array_in, float * colour_array_out)
jah128 15:66be5ec52c3b 201 {
jah128 15:66be5ec52c3b 202 int colour_temp = colour_array_in[0];
jah128 17:bf614e28668f 203 if(colour_temp < cs_c_black) colour_temp = cs_c_black;
jah128 17:bf614e28668f 204 if(colour_temp > cs_c_white) colour_temp = cs_c_white;
jah128 17:bf614e28668f 205 colour_array_out[0] = (colour_temp - cs_c_black) / (float) (cs_c_white - cs_c_black);
jah128 15:66be5ec52c3b 206 float black_level = 1.0 - colour_array_out[0];
jah128 17:bf614e28668f 207 colour_array_out[1] = ((colour_array_in[1] / (float)cs_r_white) * colour_array_out[0]) + ((colour_array_in[1] / (float)cs_r_black) * black_level);
jah128 17:bf614e28668f 208 colour_array_out[2] = ((colour_array_in[2] / (float)cs_g_white) * colour_array_out[0]) + ((colour_array_in[2] / (float)cs_g_black) * black_level);
jah128 17:bf614e28668f 209 colour_array_out[3] = ((colour_array_in[3] / (float)cs_b_white) * colour_array_out[0]) + ((colour_array_in[3] / (float)cs_b_black) * black_level);
jah128 15:66be5ec52c3b 210 // Normalise array
jah128 15:66be5ec52c3b 211 float norm_factor = 3.0/(colour_array_out[1] + colour_array_out[2] + colour_array_out[3]);
jah128 15:66be5ec52c3b 212 colour_array_out[1] *= norm_factor;
jah128 15:66be5ec52c3b 213 colour_array_out[2] *= norm_factor;
jah128 15:66be5ec52c3b 214 colour_array_out[3] *= norm_factor;
jah128 17:bf614e28668f 215 // int sum_black = cs_r_black + cs_g_black + CS_
jah128 15:66be5ec52c3b 216 // colour_array_out[1] =
jah128 15:66be5ec52c3b 217 }
jah128 15:66be5ec52c3b 218
jah128 15:66be5ec52c3b 219 int Colour::identify_colour_from_calibrated_colour_scores(float * calibrate_colour_array_in)
jah128 15:66be5ec52c3b 220 {
jah128 15:66be5ec52c3b 221 float scores[8];
jah128 15:66be5ec52c3b 222 scores[0] = ((calibrate_colour_array_in[1] * 2) * (calibrate_colour_array_in[1] * 2)) / ((calibrate_colour_array_in[2] + calibrate_colour_array_in[3]) * (calibrate_colour_array_in[2] + calibrate_colour_array_in[3]));
jah128 15:66be5ec52c3b 223 scores[1] = ((calibrate_colour_array_in[1] + calibrate_colour_array_in[2]) * (calibrate_colour_array_in[1] + calibrate_colour_array_in[2])) / (calibrate_colour_array_in[3] * calibrate_colour_array_in[3] * 4);
jah128 15:66be5ec52c3b 224 scores[2] = ((calibrate_colour_array_in[2] * 2) * (calibrate_colour_array_in[2] * 2)) / ((calibrate_colour_array_in[1] + calibrate_colour_array_in[3]) * (calibrate_colour_array_in[1] + calibrate_colour_array_in[3]));
jah128 15:66be5ec52c3b 225 scores[3] = ((calibrate_colour_array_in[2] + calibrate_colour_array_in[3]) * (calibrate_colour_array_in[2] + calibrate_colour_array_in[3])) / (calibrate_colour_array_in[1] * calibrate_colour_array_in[1] * 4);
jah128 15:66be5ec52c3b 226 scores[4] = ((calibrate_colour_array_in[3] * 2) * (calibrate_colour_array_in[3] * 2)) / ((calibrate_colour_array_in[2] + calibrate_colour_array_in[1]) * (calibrate_colour_array_in[2] + calibrate_colour_array_in[1]));
jah128 15:66be5ec52c3b 227 scores[5] = ((calibrate_colour_array_in[3] + calibrate_colour_array_in[1]) * (calibrate_colour_array_in[3] + calibrate_colour_array_in[1])) / (calibrate_colour_array_in[2] * calibrate_colour_array_in[2] * 4);
jah128 15:66be5ec52c3b 228 float grey_factor = 1.0 / (1 + ((((calibrate_colour_array_in[1] - 1) * 10) * ((calibrate_colour_array_in[1] - 1) * 10)) * (((calibrate_colour_array_in[2] - 1) * 10) * ((calibrate_colour_array_in[2] - 1) * 10)) * (((calibrate_colour_array_in[3] - 1) * 10) * ((calibrate_colour_array_in[3] - 1) * 10))));
jah128 15:66be5ec52c3b 229 scores[6] = calibrate_colour_array_in[0] * calibrate_colour_array_in[0] * grey_factor * 4;
jah128 15:66be5ec52c3b 230 scores[7] = (1-calibrate_colour_array_in[0]) * (1-calibrate_colour_array_in[0]) * grey_factor * 4;
jah128 15:66be5ec52c3b 231 //pc.printf("R:%1.2f Y:%1.2f G:%1.2f C:%1.2f B:%1.2f M:%1.2f W:%1.2f B:%1.2f G:%1.2f\n\n", scores[0],scores[1],scores[2],scores[3],scores[4],scores[5],scores[6],scores[7],grey_factor);
jah128 15:66be5ec52c3b 232 float max = 2;
jah128 15:66be5ec52c3b 233 int max_index = 8;
jah128 15:66be5ec52c3b 234 for(int i=0; i<8; i++) {
jah128 15:66be5ec52c3b 235 if(scores[i] > max) {
jah128 15:66be5ec52c3b 236 max=scores[i];
jah128 15:66be5ec52c3b 237 max_index=i;
jah128 15:66be5ec52c3b 238 }
jah128 15:66be5ec52c3b 239 }
jah128 15:66be5ec52c3b 240 return max_index;
jah128 15:66be5ec52c3b 241 }
jah128 15:66be5ec52c3b 242
jah128 15:66be5ec52c3b 243 char Colour::IF_check_base_colour_sensor(void)
jah128 15:66be5ec52c3b 244 {
jah128 0:d6269d17c8cf 245 //Reads the device ID flag of the colour sensor [0xB2]
jah128 0:d6269d17c8cf 246 //This should equal 0x44 for both TCS34721 (top) and TCS34725 (base) sensors
jah128 0:d6269d17c8cf 247 //Return a 1 if successful or a 0 otherwise
jah128 0:d6269d17c8cf 248 char return_value = 0;
jah128 0:d6269d17c8cf 249 char data[1] = {0x00};
jah128 0:d6269d17c8cf 250 char command[1] = {0xB2};
jah128 0:d6269d17c8cf 251 primary_i2c.write(BASE_COLOUR_ADDRESS, command, 1, false);
jah128 0:d6269d17c8cf 252 primary_i2c.read(BASE_COLOUR_ADDRESS, data, 1, false);
jah128 0:d6269d17c8cf 253 if(data[0] == 0x44) return_value = 1;
jah128 12:878c6e9d9e60 254 else psi.debug("Invalid response from colour sensor:%X\n",data[0]);
jah128 0:d6269d17c8cf 255 return return_value;
jah128 0:d6269d17c8cf 256 }
jah128 15:66be5ec52c3b 257
jah128 15:66be5ec52c3b 258 int Colour::IF_writeSingleRegister( char address, char data )
jah128 15:66be5ec52c3b 259 {
jah128 15:66be5ec52c3b 260 char tx[2] = { address | 160, data }; //0d160 = 0b10100000
jah128 15:66be5ec52c3b 261 int ack = primary_i2c.write(BASE_COLOUR_ADDRESS, tx, 2, false);
jah128 15:66be5ec52c3b 262 return ack;
jah128 15:66be5ec52c3b 263 }
jah128 15:66be5ec52c3b 264
jah128 15:66be5ec52c3b 265 int Colour::IF_writeMultipleRegisters( char address, char* data, int quantity )
jah128 15:66be5ec52c3b 266 {
jah128 15:66be5ec52c3b 267 char tx[ quantity + 1 ];
jah128 15:66be5ec52c3b 268 tx[0] = address | 160;
jah128 15:66be5ec52c3b 269 for ( int i = 1; i <= quantity; i++ ) {
jah128 15:66be5ec52c3b 270 tx[ i ] = data[ i - 1 ];
jah128 15:66be5ec52c3b 271 }
jah128 15:66be5ec52c3b 272 int ack = primary_i2c.write(BASE_COLOUR_ADDRESS, tx, quantity + 1, false);
jah128 15:66be5ec52c3b 273 return ack;
jah128 15:66be5ec52c3b 274 }
jah128 15:66be5ec52c3b 275
jah128 15:66be5ec52c3b 276 char Colour::IF_readSingleRegister( char address )
jah128 15:66be5ec52c3b 277 {
jah128 15:66be5ec52c3b 278 char output = 255;
jah128 15:66be5ec52c3b 279 char command = address | 160; //0d160 = 0b10100000
jah128 15:66be5ec52c3b 280 primary_i2c.write( BASE_COLOUR_ADDRESS, &command, 1, true );
jah128 15:66be5ec52c3b 281 primary_i2c.read( BASE_COLOUR_ADDRESS, &output, 1 );
jah128 15:66be5ec52c3b 282 return output;
jah128 15:66be5ec52c3b 283 }
jah128 15:66be5ec52c3b 284
jah128 15:66be5ec52c3b 285 int Colour::IF_readMultipleRegisters( char address, char* output, int quantity )
jah128 15:66be5ec52c3b 286 {
jah128 15:66be5ec52c3b 287 char command = address | 160; //0d160 = 0b10100000
jah128 15:66be5ec52c3b 288 primary_i2c.write(BASE_COLOUR_ADDRESS, &command, 1, true );
jah128 15:66be5ec52c3b 289 int ack = primary_i2c.read( BASE_COLOUR_ADDRESS, output, quantity );
jah128 15:66be5ec52c3b 290 return ack;
jah128 15:66be5ec52c3b 291 }
jah128 18:9204f74069b4 292
jah128 18:9204f74069b4 293 char cl_description[90];
jah128 18:9204f74069b4 294 const char * Colour::IF_get_calibration_values_string()
jah128 18:9204f74069b4 295 {
jah128 18:9204f74069b4 296 sprintf(cl_description,"[BLACK C:%4d R:%4d G:%4d B:%4d WHITE C:%4d R:%4d G%4d B:%4d]",cs_c_black,cs_r_black,cs_g_black,cs_b_black,cs_c_white,cs_r_white,cs_g_white,cs_b_white);
jah128 18:9204f74069b4 297 return cl_description;
jah128 18:9204f74069b4 298 }