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color_sensor.py
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from machine import I2C
import time
TCS34725_ADDRESS =(0x29)
TCS34725_COMMAND_BIT=(0x80)
TCS34725_ENABLE=(0x00)
TCS34725_ENABLE_AIEN=(0x10) # RGBC Interrupt Enable
TCS34725_ENABLE_WEN=(0x08) # Wait enable - Writing 1 activates the wait timer
TCS34725_ENABLE_AEN=(0x02) # RGBC Enable - Writing 1 actives the ADC, 0 disables it
TCS34725_ENABLE_PON=(0x01) # Power on - Writing 1 activates the internal oscillator, 0 disables it
TCS34725_ATIME=(0x01) # Integration time
TCS34725_WTIME=(0x03) # Wait time=(if TCS34725_ENABLE_WEN is asserted)
TCS34725_WTIME_2_4MS=(0xFF) # WLONG0 = 2.4ms WLONG1 = 0.029s
TCS34725_WTIME_204MS=(0xAB) # WLONG0 = 204ms WLONG1 = 2.45s
TCS34725_WTIME_614MS=(0x00) # WLONG0 = 614ms WLONG1 = 7.4s
TCS34725_AILTL=(0x04) # Clear channel lower interrupt threshold
TCS34725_AILTH=(0x05)
TCS34725_AIHTL=(0x06) # Clear channel upper interrupt threshold
TCS34725_AIHTH=(0x07)
TCS34725_PERS=(0x0C) # Persistence register - basic SW filtering mechanism for interrupts
TCS34725_PERS_NONE=(0b0000) # Every RGBC cycle generates an interrupt
TCS34725_PERS_1_CYCLE=(0b0001) # 1 clean channel value outside threshold range generates an interrupt
TCS34725_PERS_2_CYCLE=(0b0010) # 2 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_3_CYCLE=(0b0011) # 3 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_5_CYCLE=(0b0100) # 5 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_10_CYCLE=(0b0101) # 10 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_15_CYCLE=(0b0110) # 15 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_20_CYCLE=(0b0111) # 20 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_25_CYCLE=(0b1000) # 25 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_30_CYCLE=(0b1001) # 30 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_35_CYCLE=(0b1010) # 35 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_40_CYCLE=(0b1011) # 40 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_45_CYCLE=(0b1100) # 45 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_50_CYCLE=(0b1101) # 50 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_55_CYCLE=(0b1110) # 55 clean channel values outside threshold range generates an interrupt
TCS34725_PERS_60_CYCLE=(0b1111) # 60 clean channel values outside threshold range generates an interrupt
TCS34725_CONFIG=(0x0D)
TCS34725_CONFIG_WLONG=(0x02) # Choose between short and long (12x) wait times via TCS34725_WTIME
TCS34725_CONTROL=(0x0F) # Set the gain level for the sensor
TCS34725_ID=(0x12) # 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727
TCS34725_STATUS=(0x13)
TCS34725_STATUS_AINT=(0x10) # RGBC Clean channel interrupt
TCS34725_STATUS_AVALID=(0x01) # Indicates that the RGBC channels have completed an integration cycle
TCS34725_CDATAL=(0x14) # Clear channel data
TCS34725_CDATAH=(0x15)
TCS34725_RDATAL=(0x16) # Red channel data
TCS34725_RDATAH=(0x17)
TCS34725_GDATAL=(0x18) # Green channel data
TCS34725_GDATAH=(0x19)
TCS34725_BDATAL=(0x1A) # Blue channel data
TCS34725_BDATAH=(0x1B)
CC_COLOR_RED =1
CC_COLOR_GREEN =2
CC_COLOR_BLUE =3
CC_COLOR_BLACK =4
CC_COLOR_OTHER =5
CC_COLOR_WHITE =6
TCS34725_INTEGRATIONTIME_2_4MS = 0xFF #< 2.4ms - 1 cycle - Max Count: 1024 */
TCS34725_INTEGRATIONTIME_24MS = 0xF6 #**< 24ms - 10 cycles - Max Count: 10240 */
TCS34725_INTEGRATIONTIME_50MS = 0xEB #**< 50ms - 20 cycles - Max Count: 20480 */
TCS34725_INTEGRATIONTIME_101MS = 0xD5 #*< 101ms - 42 cycles - Max Count: 43008 */
TCS34725_INTEGRATIONTIME_154MS = 0xC0 #**< 154ms - 64 cycles - Max Count: 65535 */
TCS34725_INTEGRATIONTIME_700MS = 0x00 #**< 700ms - 256 cycles - Max Count: 65535 */
TCS34725_GAIN_1X = 0x00 #**< No gain */
TCS34725_GAIN_4X = 0x01 #**< 4x gain */
TCS34725_GAIN_16X = 0x02 #*< 16x gain */
TCS34725_GAIN_60X = 0x03 #*< 60x gain */
class ColorSensor(object):
def __init__(self, addr=TCS34725_ADDRESS, it=TCS34725_INTEGRATIONTIME_2_4MS, gain=TCS34725_GAIN_1X):
self.i2c_device = I2C(I2C.I2C0, freq=100000, scl=30, sda=31)
time.sleep(0.1)
self._tcs34725Initialised = False
self._tcs34725IntegrationTime = it
self._tcs34725Gain = gain
def read(self, reg_base, reg, buf):
self.write(reg)
time.sleep(.001)
self.i2c_device.readfrom_into(59,buf)
def write(self, buf=None):
if buf is not None:
self.i2c_device.writeto(TCS34725_ADDRESS, buf)
def write8(self,reg,value):
if value is not None:
self.i2c_device.writeto_mem(TCS34725_ADDRESS, TCS34725_COMMAND_BIT | reg, value & 0xFF, mem_size=8)
def read8(self, reg):
dta_send = bytearray([TCS34725_COMMAND_BIT | reg])
self.write(dta_send)
time.sleep(.001)
num = 1
bytes=self.i2c_device.readfrom(TCS34725_ADDRESS, num)
for _b in bytes:
value = int(_b)
return value
def read16(self, reg):
dta_send = bytearray([TCS34725_COMMAND_BIT | reg])
self.write(dta_send)
time.sleep(.001)
num = 1
bytes=self.i2c_device.readfrom(TCS34725_ADDRESS, num)
for _b in bytes:
t = int(_b)
bytes=self.i2c_device.readfrom(TCS34725_ADDRESS, num)
for _b in bytes:
x = int(_b)
x <<= 8
x |= t
return x
def enable(self):
self.write8(TCS34725_ENABLE, TCS34725_ENABLE_PON)
time.sleep_ms(3)
self.write8(TCS34725_ENABLE, TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN)
def disable(self):
reg = 0
reg = self.read8(TCS34725_ENABLE)
self.write8(TCS34725_ENABLE, reg & ~(TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN))
def begin(self):
x = self.read8(TCS34725_ID)
if ((x is not 0x44) and (x is not 0x10)):
return False
self._tcs34725Initialised = True
self.setIntegrationTime(self._tcs34725IntegrationTime)
self.setGain(self._tcs34725Gain)
self.enable()
return True
def setIntegrationTime(self,it):
if (not self._tcs34725Initialised):
self.begin()
self.write8(TCS34725_ATIME, it)
self._tcs34725IntegrationTime = it
def setGain(self, gain):
if (not self._tcs34725Initialised):
self.begin()
self.write8(TCS34725_CONTROL, gain)
self._tcs34725Gain = gain
def getRawData(self):
if (not self._tcs34725Initialised):
self.begin()
c = self.read16(TCS34725_CDATAL)
r = self.read16(TCS34725_RDATAL)
g = self.read16(TCS34725_GDATAL)
b = self.read16(TCS34725_BDATAL)
if (self._tcs34725IntegrationTime == TCS34725_INTEGRATIONTIME_2_4MS):
time.sleep_ms(3)
elif (self._tcs34725IntegrationTime == TCS34725_INTEGRATIONTIME_24MS):
time.sleep_ms(24)
elif (self._tcs34725IntegrationTime == TCS34725_INTEGRATIONTIME_50MS):
time.sleep_ms(50)
elif (self._tcs34725IntegrationTime == TCS34725_INTEGRATIONTIME_101MS):
time.sleep_ms(101)
elif (self._tcs34725IntegrationTime == TCS34725_INTEGRATIONTIME_154MS):
time.sleep_ms(154)
elif (self._tcs34725IntegrationTime == TCS34725_INTEGRATIONTIME_700MS):
time.sleep_ms(700)
return [c,r,g,b]
def setInterrupt(self,i):
r = self.read8(TCS34725_ENABLE)
if (i):
r |= TCS34725_ENABLE_AIEN
else:
r &= ~TCS34725_ENABLE_AIEN
self.write8(TCS34725_ENABLE, r)
def get_color_status(self,colorId):
self.setInterrupt(False)
time.sleep_ms(100)
color_list = self.getRawData()
clearCode = color_list[0]
redCode = color_list[1]
greenCode = color_list[2]
blueCode = color_list[3]
self.setInterrupt(True)
if (clearCode > 18000):
#print("white")
return colorId == CC_COLOR_WHITE
elif ((clearCode < 2500) and (redCode < (clearCode / 3)) and (greenCode < (clearCode / 2)) and (blueCode < (clearCode / 3))):
#print("black")
return colorId == CC_COLOR_BLACK
elif (redCode > (clearCode / 3)) and (redCode > greenCode * 2) and (redCode > blueCode * 3):
#print('red')
return colorId == CC_COLOR_RED
elif (greenCode > (clearCode / 3)) and (greenCode > redCode * 1) and (greenCode > blueCode * 1):
#print("green")
return colorId == CC_COLOR_GREEN
elif (blueCode > (clearCode / 3)) and (blueCode > redCode * 1) and ( blueCode > greenCode * 1):
#print("blue")
return colorId == CC_COLOR_BLUE
else:
#print("other")
return colorId == CC_COLOR_OTHER
"""
color = ColorSensor()
color.begin()
while True:
color.get_color_status(CC_COLOR_BLACK)
"""