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Improved calibration stability
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Decreased possibility that second (red) calibration disk is not
detected; adjusted calibration code to more closely resemble code within
App
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@myTonino
myTonino committed Mar 17, 2014
1 parent 9354e55 commit 6c64334
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Showing 3 changed files with 105 additions and 100 deletions.
161 changes: 76 additions & 85 deletions Tonino.ino
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Original file line number Diff line number Diff line change
@@ -1,5 +1,3 @@
// Tonino.ino
//----------------
// Arduino code for Tonino (my-tonino.com) using
// - DFRduino Nano
// - Adafruit 0.56" 7-segment LCD backpack display
Expand Down Expand Up @@ -46,7 +44,7 @@
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// ------------------------------------------------------------------------------------------

#define VERSION "1 0 7"
#define VERSION "1 0 8"

#include <tonino.h>
#include <tonino_lcd.h>
Expand Down Expand Up @@ -147,7 +145,6 @@ void setup() {
if (tConfig.getCheckCalInit() && colorSense.isCalibrating() == LOW_PLATE) {
display.clear();
if (calibrate()) {
delay(200);
display.done();
}
} else {
Expand Down Expand Up @@ -206,6 +203,7 @@ void loop() {
delay(750);
display.circle(1, 500);
display.clear();
wdt_reset();
delay(500);

scanAndDisplay();
Expand Down Expand Up @@ -272,42 +270,43 @@ boolean calibrate() {

display.calibration1();
WRITEDEBUG("Calibrating ... ");
delay(1000);
delay(1500);

// scan 1
colorSense.scan(NULL, false, &sd_1);
if (tSerial.checkCommands()) return false;
display.calibration1();
delay(750);
if (tSerial.checkCommands()) return false;

// dark scan to remove potential external light
sensorData sd_d;
colorSense.scan(NULL, false, &sd_d, false);
if (tSerial.checkCommands()) return false;
display.calibration1();
delay(750);
if (tSerial.checkCommands()) return false;

// scan 2
sensorData sd_2;
colorSense.scan(NULL, false, &sd_2);
display.calibration1();
delay(200);

float redavg = (sd_1.value[RED_IDX] + sd_2.value[RED_IDX]) / 2.0 - sd_d.value[RED_IDX];
float blueavg = (sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX]) / 2.0 - sd_d.value[BLUE_IDX];

// scan for calibration plate 1
int32_t tval1 = colorSense.scan(NULL, false, &sd_1);

if ((abs(sd_1.value[RED_IDX]-LOW_RED) < RED_RANGE_LOW) &&
(abs(sd_1.value[BLUE_IDX]-LOW_BLUE) < BLUE_RANGE_LOW)) {
// really found calibration plate 1 - do a second scan for averaging and display OK
sensorData sd_2;
display.calibration1();

// dark scan to remove potential external light
if (tSerial.checkCommands()) return false;
delay(750);
if (tSerial.checkCommands()) return false;
sensorData dsd_2;
colorSense.scan(NULL, false, &dsd_2, false);
delay(750);
if (tSerial.checkCommands()) return false;

// make a second scan and calc an average
int32_t tval2 = colorSense.scan(NULL, false, &sd_2);

float rb_low = (sd_1.value[RED_IDX] + sd_2.value[RED_IDX] - 2*dsd_2.value[RED_IDX]) /
(float)(sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX] - 2*dsd_2.value[BLUE_IDX]);

WRITEDEBUG((sd_1.value[RED_IDX] + sd_2.value[RED_IDX] - 2*dsd_2.value[RED_IDX]) / 2);
if ((abs(redavg - LOW_RED) < RED_RANGE_LOW) && (abs(blueavg - LOW_BLUE) < BLUE_RANGE_LOW)) {

float rb_low = redavg / blueavg;

WRITEDEBUG(redavg);
WRITEDEBUG("/");
WRITEDEBUG((sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX] - 2*dsd_2.value[BLUE_IDX]) / 2);
WRITEDEBUG(blueavg);
WRITEDEBUG("=");
WRITEDEBUGF(rb_low, 5);
WRITEDEBUG("; ");

// DON'T write measured average T-value to display as it is confusing for the user
// displayNum((int32_t)((tval1 + tval2) / 2.0 + 0.5));

// wait for other plate
while (true) {
display.calibration2();
Expand All @@ -319,70 +318,62 @@ boolean calibrate() {
}
display.up();
while (colorSense.isLight()) {
delay(250);
delay(500);
if (tSerial.checkCommands()) return false;
}
display.calibration2();
delay(500);
delay(250);

// scan for calibration plate 2
// this is done with a quick (only white) measurement
if (colorSense.isCalibrating() == HIGH_PLATE) {
delay(200);
// make a thorough scan
tval1 = colorSense.scan(NULL, false, &sd_1);
// scan 1 for calibration plate 2
colorSense.scan(NULL, false, &sd_1);
if (tSerial.checkCommands()) return false;
display.calibration2();
delay(750);
if (tSerial.checkCommands()) return false;

// dark scan to remove potential external light
colorSense.scan(NULL, false, &sd_d, false);
if (tSerial.checkCommands()) return false;
display.calibration2();
delay(750);
if (tSerial.checkCommands()) return false;

if ((abs(sd_1.value[RED_IDX]-HIGH_RED) < RED_RANGE_HIGH) &&
(abs(sd_1.value[BLUE_IDX]-HIGH_BLUE) < BLUE_RANGE_HIGH)) {
// really found calibration plate 2 - calc and save calibration
// scan 2
colorSense.scan(NULL, false, &sd_2);
display.calibration2();

redavg = (sd_1.value[RED_IDX] + sd_2.value[RED_IDX]) / 2.0 - sd_d.value[RED_IDX];
blueavg = (sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX]) / 2.0 - sd_d.value[BLUE_IDX];

display.calibration2();
if (tSerial.checkCommands()) return false;

// dark scan to remove potential external light
delay(750);
colorSense.scan(NULL, false, &dsd_2, false);
if (tSerial.checkCommands()) return false;
delay(750);
if (tSerial.checkCommands()) return false;
float rb_high = redavg / blueavg;

float cal[2];
cal[0] = (HIGH_TARGET - LOW_TARGET) / (rb_high - rb_low);
cal[1] = LOW_TARGET - cal[0]*rb_low;

WRITEDEBUG((sd_1.value[RED_IDX] + sd_2.value[RED_IDX] - 2*sd_d.value[RED_IDX]) / 2);
WRITEDEBUG("/");
WRITEDEBUG((sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX] - 2*sd_d.value[BLUE_IDX]) / 2);
WRITEDEBUG("=");
WRITEDEBUGF(rb_high, 5);

// make a second scan and calc an average
int32_t tval2 = colorSense.scan(NULL, false, &sd_2);
display.calibration2();
float rb_high = (sd_1.value[RED_IDX] + sd_2.value[RED_IDX] - 2*dsd_2.value[RED_IDX]) /
(float)(sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX] - 2*dsd_2.value[BLUE_IDX]);

float cal[2];
cal[0] = (HIGH_TARGET - LOW_TARGET) / (rb_high - rb_low);
cal[1] = LOW_TARGET - cal[0]*rb_low;

WRITEDEBUG((sd_1.value[RED_IDX] + sd_2.value[RED_IDX] - 2*dsd_2.value[RED_IDX]) / 2);
WRITEDEBUG("/");
WRITEDEBUG((sd_1.value[BLUE_IDX] + sd_2.value[BLUE_IDX] - 2*dsd_2.value[BLUE_IDX]) / 2);
WRITEDEBUG("=");
WRITEDEBUGF(rb_high, 5);

WRITEDEBUG(" => ");
WRITEDEBUGF(cal[0], 5);
WRITEDEBUG(", ");
WRITEDEBUGLNF(cal[1], 5);

// DON'T write measured average T-value to display as it is confusing for the user
// displayNum((int32_t)((tval1 + tval2) / 2.0 + 0.5));
if (tSerial.checkCommands()) return false;

tConfig.setCalibration(cal);
delay(2500);
return true;
}
}
delay(500);
WRITEDEBUG(" => ");
WRITEDEBUGF(cal[0], 5);
WRITEDEBUG(", ");
WRITEDEBUGLNF(cal[1], 5);

if (tSerial.checkCommands()) return false;

tConfig.setCalibration(cal);
delay(200);
return true;
}

} else {
// could not detect first plate even though quick check thought so - error and continue
display.error();
delay(3000);
return false;
}
}

Expand Down
36 changes: 25 additions & 11 deletions Tonino/tonino_tcs3200.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -180,7 +180,7 @@ int32_t TCS3200::scan(float *raw, bool displayAnim, sensorData *outersd, boolean
digitalWrite(_POWER, HIGH);
delay(50);

WRITEDEBUG(" ext light: ");
WRITEDEBUGLN("ext light:");
uint32_t ds;
if (_colorMode & COLOR_WHITE) {
setFilter(WHITE_IDX); // white sensor
Expand Down Expand Up @@ -236,7 +236,7 @@ void TCS3200::sensorOff() {
}

// returns 1 if the first, darker, 2 if the second, lighter calibration plate is detected
// 0 otherwise; a quick sampling with LEDs in conducted
// 0 otherwise; a quick sampling with LEDs switched on is conducted
uint8_t TCS3200::isCalibrating() {
uint8_t samplingBackup = _readDiv;
_readDiv = QUICK_SAMPLING;
Expand All @@ -247,6 +247,8 @@ uint8_t TCS3200::isCalibrating() {

digitalWrite(_POWER, HIGH);
digitalWrite(_LED, HIGH);
delay(50);

setFilter(RED_IDX); // red sensor
int32_t wval = readSingle();
setFilter(BLUE_IDX); // blue sensor
Expand All @@ -258,10 +260,10 @@ uint8_t TCS3200::isCalibrating() {
uint8_t cal = 0;
if ((abs(wval-LOW_RED) < RED_RANGE_LOW) && (abs(bval-LOW_BLUE) < BLUE_RANGE_LOW)) {
// found first calibration plate
cal = 1;
cal = LOW_PLATE;
} else if ((abs(wval-HIGH_RED) < RED_RANGE_HIGH) && (abs(bval-HIGH_BLUE) < BLUE_RANGE_HIGH)) {
// found second calibration plate
cal = 2;
cal = HIGH_PLATE;
}
// else found no calibration plate

Expand Down Expand Up @@ -313,15 +315,27 @@ uint32_t TCS3200::readSingle(void) {

// set the sensor color filter
void TCS3200::setFilter(uint8_t f) {
WRITEDEBUG("setFilter ");
//WRITEDEBUG("setFilter ");
switch (f) {
case RED_IDX: WRITEDEBUGLN("R"); digitalWrite(_S2, LOW); digitalWrite(_S3, LOW); break;
case GREEN_IDX: WRITEDEBUGLN("G"); digitalWrite(_S2, HIGH); digitalWrite(_S3, HIGH); break;
case BLUE_IDX: WRITEDEBUGLN("B"); digitalWrite(_S2, LOW); digitalWrite(_S3, HIGH); break;
case WHITE_IDX: WRITEDEBUGLN("X"); digitalWrite(_S2, HIGH); digitalWrite(_S3, LOW); break;
case RED_IDX: /*WRITEDEBUGLN("R");*/
digitalWrite(_S2, LOW);
digitalWrite(_S3, LOW);
break;
case GREEN_IDX: /*WRITEDEBUGLN("G");*/
digitalWrite(_S2, HIGH);
digitalWrite(_S3, HIGH);
break;
case BLUE_IDX: /*WRITEDEBUGLN("B");*/
digitalWrite(_S2, LOW);
digitalWrite(_S3, HIGH);
break;
case WHITE_IDX: /*WRITEDEBUGLN("X");*/
digitalWrite(_S2, HIGH);
digitalWrite(_S3, LOW);
break;
default:
WRITEDEBUG("ERROR: unknown filter: ");
WRITEDEBUGLN(f);
WRITEDEBUG("ERROR: unknown filter: ");
WRITEDEBUGLN(f);
}
}

Expand Down
8 changes: 4 additions & 4 deletions Tonino/tonino_tcs3200.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -87,10 +87,10 @@
#define LOW_BLUE 1470 // brown disk blue reading
#define HIGH_RED 11300 // red disk white reading
#define HIGH_BLUE 3050 // red disk blue reading
#define RED_RANGE_LOW 1200
#define RED_RANGE_HIGH 4200
#define BLUE_RANGE_LOW 750
#define BLUE_RANGE_HIGH 1450
#define RED_RANGE_LOW 1300
#define RED_RANGE_HIGH 4300
#define BLUE_RANGE_LOW 800
#define BLUE_RANGE_HIGH 1550
#define LOW_TARGET 1.5 // brown disk target r/b value
#define HIGH_TARGET 3.7 // red disk target r/b value

Expand Down

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