Denníček - február 2020

Oliver naprogramoval prvú verziu rozpoznávania lopty:

int je_lopta(uint8_t r, uint8_t g, uint8_t b)
{

  float h, s, v, max, min;
  h = 0;
 
   if (r < b){
    if(r < g){
      min = r;
    }
    else{
      min = g;
    }
  }
  else{
    if (b < g){
      min = b;
    }
    else{
      min = g;
    }
  }



  if (r > b){
    if(r > g){
      max = r;
      if (max!= min){
        h = 60*((g-b)/(max-min));
      }
    }
    else{
      max = g;
      if (max!= min){
        h = 60*(2+(b-r)/(max-min));
      }
    }
  }
  else{
    if (b > g){
      max = b;
      if (max!= min){
        h = 60*(4+(r-g)/(max - min));
      } 
    }
    else{
      max = g;
      if (max!= min){
        h = 60*(2+(b-r)/(max - min));
      }
    }
  }
 
  v = max;

  s = (max-min)/max;
  if (h < 0){
    h = h + 360;
  }
  if (h < 28 && h > 8 && s > 0.5 && v > 100){
    return 1;
  }
  return 0;
}

//------------------
if (je_lopta(r,g,b) == 1)
{
   cnt++;                      
}

Martin s Jankom pracoval na kalibrácií senzorov, zatiaľ máme toto:

#define senzor A7
#define switch 7

int val = 0;
int min, max;

void setup() {
  
  Serial.begin(9600);
  Serial.println("Zacinam kalibraciu.");
  min=max=val=analogRead(senzor);
  pinMode(switch, INPUT_PULLUP);

}

void loop() {
  val=analogRead(senzor);
  if(val<min)
    min=val;
  if(val>max)
    max=val;
    Serial.print(" val: ");
    Serial.print(val);
    Serial.print(" min: ");
    Serial.print(min);
    Serial.print(" max: ");
    Serial.print(max);
    Serial.println();
    while(digitalRead(switch) == LOW) {
      ;
    }
  
}