Tcs230
agentmcmillan
Posts: 4
I am using the TCS230 to ic color but instead of debugging out I want it to trigger ports high or low on the prototyping daughter board. its been a really long time since I have played with a stamp. I have found the sample code. I don't know how to have the stamp compare what it is "seeing" to what would be in a table got a specif color range and then to run a subroutine based off of that.
Comments
-Phil
-Phil
the issue is that when the code is ran it says that all levels are at 100 and thus nothing matches
in the final sub routine I am attempting to have it output to a set transistors
' -----[noparse][[/noparse] I/O Definitions ]------------------------------------------------- TcsLed PIN 12 ' LEDs enable - active low TcsOut PIN 11 ' freq from TCS230 S2 PIN 9 ' color filter control S3 PIN 8 ' color filter control Rout0 PIN 5 'port d Rout1 PIN 1 'port e Rout2 PIN 0 'port f Rout3 PIN 2 'port h Rout4 PIN 3 'port g ' -----[noparse][[/noparse] Constants ]------------------------------------------------------- Red CON 0 ' TCS230 filter selection Green CON 1 Blue CON 2 Clear CON 3 ScanTime CON 10 ' scan time in millisecs ScaleMax CON 100 ' max for scaled values IsOn CON 0 ' LED control is active low IsOff CON 1 NumColors CON 7 ' seven M&M colors ColorThresh CON 10 ' allowable variance TermChar CON 0 ' terminater for strings StrLen CON 12 ' max length of names ' -----[noparse][[/noparse] Variables ]------------------------------------------------------- filter VAR Nib ' filter selection rawColor VAR Word ' raw return from TCS230 calRed VAR Word ' red calibration calGrn VAR Word ' green calibration calBlu VAR Word ' blue calibration redVal VAR Byte ' red value grnVal VAR Byte ' green value bluVal VAR Byte ' blue value rgb VAR redVal ' colors array inKey VAR Byte ' input from user colIdx VAR Nib ' color index rgbIdx VAR Nib ' rgb index testVal VAR Byte ' test value eePntr VAR Word ' data table pointer char VAR inKey ' char to print ' -----[noparse][[/noparse] EEPROM Data ]----------------------------------------------------- ' RGB data Colors DATA 038, 007, 005 ' red DATA 075, 022, 008 ' orange DATA 086, 060, 011 ' yellow DATA 019, 044, 020 ' green DATA 021, 017, 031 ' violet ' Color Names CN0 DATA "Red", 0 CN1 DATA "Orange", 0 CN2 DATA "Yellow", 0 CN3 DATA "Green", 0 CN4 DATA "Violet", 0 ' -----[noparse][[/noparse] Initialization ]-------------------------------------------------- Setup: TcsLed = IsOff ' start off OUTPUT TcsLed ' allow direct control GOSUB Calibrate_White ' white balance sensor GOSUB Calibrate_Colors ' calibrate color table ' -----[noparse][[/noparse] Program Code ]---------------------------------------------------- Main: DO GOSUB Read_RGB ' scan color DEBUG "RGB = ", ' display components DEC3 redVal, ", ", DEC3 grnVal, ", ", DEC3 bluVal, " " GOSUB Match_Color ' compare scan to table IF (colIdx < NumColors) THEN ' match was found GOSUB Print_Color GOSUB Show_Color DEBUG CR ELSE DEBUG "No match", CR ENDIF PAUSE 5000 ' delay between scans LOOP END ' -----[noparse][[/noparse] Subroutines ]----------------------------------------------------- ' Calibrates "white" to ambient conditions Calibrate_White: DEBUG CLS, "TCS230 White Balance" DEBUG CR, CR, "Insert white Press key to scan." DEBUGIN inKey GOSUB White_Balance DEBUG CR, CR, "White balance complete." PAUSE 1000 DEBUG CLS RETURN '======================White balance============================================== ' Reads "white" and calculates calibration values White_Balance: filter = Red GOSUB Read_Color ' read raw red calRed = ScaleMax * 256 / rawColor ' calculate red cal filter = Green GOSUB Read_Color ' read raw green calGrn = ScaleMax * 256 / rawColor ' calculate green scale filter = Blue GOSUB Read_Color ' read raw blue calBlu = ScaleMax * 256 / rawColor ' calculate blue scale RETURN '========== calibrate Colors====================================================== ' Calibrates color table to ambient conditions Calibrate_Colors: FOR colIdx = 0 TO (NumColors - 1) ' loop through all colors DEBUG CLS, "TCS230 Color Calibration: " GOSUB Print_Color DEBUG CR, CR, "Insert Color Press key to scan." TcsLed = IsOn ' light up scan area DEBUGIN inKey GOSUB Read_RGB ' scan sample item eePntr = Colors + (3 * colIdx) ' point to table entry WRITE eePntr, redVal, grnVal, bluVal ' save new data NEXT DEBUG CLS RETURN '======Read Color========================================================= ' Reads selected color from TCS230 ' -- takes "filter" as input ' -- returns "rawColor" as output (unscaled color value) Read_Color: SELECT filter CASE Red LOW S2 LOW S3 CASE Green HIGH S2 HIGH S3 CASE Blue LOW S2 HIGH S3 CASE ELSE ' clear -- no filter HIGH S2 LOW S3 ENDSELECT TcsLed = IsOn ' light sample COUNT TcsOut, ScanTime, rawColor ' return unscaled value TcsLed = IsOff RETURN '====Read RGB=============================================================== ' Reads and scales RGB colors Read_RGB: filter = Red GOSUB Read_Color redVal = rawColor */ calRed MAX ScaleMax filter = Green GOSUB Read_Color grnVal = rawColor */ calGrn MAX ScaleMax filter = Blue GOSUB Read_Color bluVal = rawColor */ calBlu MAX ScaleMax RETURN '====Match Color============================================================ ' Compares current color scan with known values in ' table. If match is found, the value of "colIdx" ' will be less than "NumColors" Match_Color: colIdx = 0 DO WHILE (colIdx < NumColors) ' check known colors rgbIdx = 0 DO WHILE (rgbIdx < 3) ' compare rgb components eePntr = Colors + (colIdx * 3) + rgbIdx ' point to color table READ eePntr, testVal ' read known r, g or b testVal = ABS(testVal - rgb(rgbIdx)) ' calculate variance IF (testVal > ColorThresh) THEN EXIT ' if out-of-range, next rgbIdx = rgbIdx + 1 ' test next component LOOP IF (rgbIdx = 3) THEN EXIT ' match found colIdx = colIdx + 1 ' try next color LOOP RETURN '====Print Color============================================================ ' Print color name ' -- takes "colIdx" as input ' -- allow this to fall through to Print_String Print_Color: LOOKUP colIdx, [noparse][[/noparse]CN0, CN1, CN2, CN3, CN4], eePntr '=======Print_String======================================================== ' Print a string stored in DATA table ' -- point to first character with "eePntr" Print_String: DO READ eePntr, char ' reach character IF (char = TermChar) THEN EXIT ' end of string? DEBUG char ' no -- print char eePntr = eePntr + 1 ' point to next LOOP RETURN '====Show_Color============================================================= ' ' Show_Color displays the name of the found color on the LCD screen. ' Show_Color: ' print color name on screen SELECT eePntr CASE 0 GOSUB No_Color CASE 1 GOSUB Red_Found CASE 2 GOSUB Orange_Found CASE 3 GOSUB Yellow_Found CASE 4 GOSUB Green_Found CASE 5 GOSUB Purple_Found ENDSELECT DEBUG CR RETURN '-------[noparse][[/noparse]color subroutines]------------------------ 'each sub routine is setup in a way that allows the "serial out" to the robot No_Color: LOW Rout0 LOW Rout1 LOW Rout2 LOW Rout3 LOW Rout4 DEBUG "no color found" Red_Found: HIGH Rout0 LOW Rout1 LOW Rout2 LOW Rout3 LOW Rout4 DEBUG "Found Red" Orange_Found: LOW Rout0 HIGH Rout1 LOW Rout2 LOW Rout3 LOW Rout4 DEBUG "Found Orange" Yellow_Found: LOW Rout0 LOW Rout1 HIGH Rout2 LOW Rout3 LOW Rout4 DEBUG "Found Yellow" Green_Found: LOW Rout0 LOW Rout1 LOW Rout2 HIGH Rout3 LOW Rout4 DEBUG "Found Green" Purple_Found: LOW Rout0 LOW Rout1 LOW Rout2 LOW Rout3 HIGH Rout4 DEBUG "Found Purple"