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Color calibration (#245)

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* better handling of thresholds, color calibration strategy

* updating calibration parameters
This commit is contained in:
Peli de Halleux 2018-01-19 13:11:11 -08:00 committed by GitHub
parent 23bb316403
commit bf6a932e5f
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 145 additions and 89 deletions
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1
libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
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@ -1,5 +1,6 @@
{
"sensors.ColorSensor": "The color sensor is a digital sensor that can detect the color or intensity\nof light that enters the small window on the face of the sensor.",
"sensors.ColorSensor.calibrateLight": "Collects measurement of the light condition and adjusts the threshold to 10% / 90%.",
"sensors.ColorSensor.color": "Get the current color from the color sensor.",
"sensors.ColorSensor.colorMode": "Gets the current color mode",
"sensors.ColorSensor.light": "Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).",

1
libs/color-sensor/_locales/color-sensor-strings.json
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@ -13,6 +13,7 @@
"LightCondition.Dark|block": "dark",
"LightIntensityMode.Ambient|block": "ambient light",
"LightIntensityMode.Reflected|block": "reflected light",
"sensors.ColorSensor.calibrateLight|block": "calibrate|%sensor|for %mode|light",
"sensors.ColorSensor.color|block": "%sensor| color",
"sensors.ColorSensor.light|block": "%sensor|%mode",
"sensors.ColorSensor.onColorDetected|block": "on %sensor|detected color %color",

62
libs/color-sensor/color.ts
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@ -39,9 +39,9 @@ const enum ColorSensorColor {
enum LightCondition {
//% block="dark"
Dark = sensors.internal.ThresholdState.Low,
Dark = sensors.ThresholdState.Low,
//$ block="bright"
Bright = sensors.internal.ThresholdState.High
Bright = sensors.ThresholdState.High
}
namespace sensors {
@ -52,12 +52,14 @@ namespace sensors {
*/
//% fixedInstances
export class ColorSensor extends internal.UartSensor {
thresholdDetector: sensors.internal.ThresholdDetector;
thresholdDetector: sensors.ThresholdDetector;
calibrating: boolean;
constructor(port: number) {
super(port)
this._setMode(ColorSensorMode.None);
this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
this.thresholdDetector = new sensors.ThresholdDetector(this.id());
this.calibrating = false;
}
_colorEventValue(value: number) {
@ -95,6 +97,7 @@ namespace sensors {
}
_update(prev: number, curr: number) {
if (this.calibrating) return; // simply ignore data updates while calibrating
if (this.mode == ColorSensorMode.Color)
control.raiseEvent(this._id, this._colorEventValue(curr));
else
@ -230,18 +233,65 @@ namespace sensors {
//% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
//% group="Threshold" blockGap=8 weight=90
//% value.min=0 value.max=100
//% sensor.fieldEditor="ports"
setThreshold(condition: LightCondition, value: number) {
if (condition == LightCondition.Dark)
this.thresholdDetector.setLowThreshold(value)
else
this.thresholdDetector.setHighThreshold(value);
}
/**
* Collects measurement of the light condition and adjusts the threshold to 10% / 90%.
*/
//% blockId=colorCalibrateLight block="calibrate|%sensor|for %mode|light"
//% group="Threshold" weight=91 blockGap=8
//% sensor.fieldEditor="ports"
calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
this.calibrating = true; // prevent events
this.light(mode); // trigger a read
pauseUntil(() => this.isActive()); // ensure sensor is live
let vold = 0;
let vcount = 0;
let min = 200;
let max = -200;
let k = 0;
while(k++ < 1000 && vcount < 50) {
let v = this.light(mode);
min = Math.min(min, v);
max = Math.max(max, v);
// detect if nothing has changed and stop calibration
if (Math.abs(v - vold) <= 2)
vcount ++;
else {
vold = v;
vcount = 1;
}
// wait a bit
loops.pause(50);
}
// apply tolerance
const minDist = 10;
min = Math.max(minDist / 2, Math.min(min + deviation / 2, max - deviation / 2 - minDist / 2));
max = Math.min(100 - minDist / 2, Math.max(min + minDist, max - deviation / 2));
// apply thresholds
this.thresholdDetector.setLowThreshold(min);
this.thresholdDetector.setHighThreshold(max);
this.calibrating = false;
}
}
//% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
//% whenUsed block="color 3" weight=95 fixedInstance jres=icons.port3
export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
//% whenUsed block="color 1" weight=90 fixedInstance jres=icons.port1
export const color1: ColorSensor = new ColorSensor(1)
//% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2

1
libs/core/_locales/core-strings.json
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@ -101,6 +101,7 @@
"{id:category}Motors": "Motors",
"{id:category}Output": "Output",
"{id:category}Screen": "Screen",
"{id:category}Sensors": "Sensors",
"{id:category}Serial": "Serial",
"{id:group}Buttons": "Buttons",
"{id:group}Counters": "Counters",

157
libs/core/input.ts
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@ -196,83 +196,6 @@ namespace sensors.internal {
}
}
export enum ThresholdState {
Normal = 1,
High = 2,
Low = 3,
}
export class ThresholdDetector {
public id: number;
private min: number;
private max: number;
private lowThreshold: number;
private highThreshold: number;
private level: number;
public state: ThresholdState;
constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
this.id = id;
this.min = min;
this.max = max;
this.lowThreshold = lowThreshold;
this.highThreshold = highThreshold;
this.level = Math.ceil((max - min) / 2);
this.state = ThresholdState.Normal;
}
public setLevel(level: number) {
if (this == null) return
this.level = this.clampValue(level);
if (this.level >= this.highThreshold) {
this.setState(ThresholdState.High);
}
else if (this.level <= this.lowThreshold) {
this.setState(ThresholdState.Low);
}
else {
this.setState(ThresholdState.Normal);
}
}
public setLowThreshold(value: number) {
this.lowThreshold = this.clampValue(value);
this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
}
public setHighThreshold(value: number) {
this.highThreshold = this.clampValue(value);
this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
}
private clampValue(value: number) {
if (value < this.min) {
return this.min;
}
else if (value > this.max) {
return this.max;
}
return value;
}
private setState(state: ThresholdState) {
if (this.state == state) return;
this.state = state;
switch (state) {
case ThresholdState.High:
control.raiseEvent(this.id, ThresholdState.High);
break;
case ThresholdState.Low:
control.raiseEvent(this.id, ThresholdState.Low);
break;
case ThresholdState.Normal:
break;
}
}
}
export class UartSensor extends Sensor {
protected mode: number // the mode user asked for
protected realmode: number // the mode the hardware is in
@ -499,3 +422,83 @@ namespace sensors.internal {
TST_UART_WRITE = 0xc048740a,
}
}
namespace sensors {
export enum ThresholdState {
Normal = 1,
High = 2,
Low = 3,
}
export class ThresholdDetector {
public id: number;
private min: number;
private max: number;
private lowThreshold: number;
private highThreshold: number;
private level: number;
public state: ThresholdState;
constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
this.id = id;
this.min = min;
this.max = max;
this.lowThreshold = lowThreshold;
this.highThreshold = highThreshold;
this.level = Math.ceil((max - min) / 2);
this.state = ThresholdState.Normal;
}
public setLevel(level: number) {
if (this == null) return
this.level = this.clampValue(level);
if (this.level >= this.highThreshold) {
this.setState(ThresholdState.High);
}
else if (this.level <= this.lowThreshold) {
this.setState(ThresholdState.Low);
}
else {
const interval = (this.highThreshold - this.lowThreshold) / 6;
if ((this.state == ThresholdState.High && this.level < this.highThreshold - interval) ||
(this.state == ThresholdState.Low && this.level > this.lowThreshold + interval))
this.setState(ThresholdState.Normal);
}
}
public setLowThreshold(value: number) {
this.lowThreshold = this.clampValue(value);
this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
}
public setHighThreshold(value: number) {
this.highThreshold = this.clampValue(value);
this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
}
private clampValue(value: number) {
if (value < this.min) {
return this.min;
}
else if (value > this.max) {
return this.max;
}
return value;
}
private setState(state: ThresholdState) {
if (this.state == state) return;
this.state = state;
switch (state) {
case ThresholdState.High:
control.raiseEvent(this.id, ThresholdState.High);
break;
case ThresholdState.Low:
control.raiseEvent(this.id, ThresholdState.Low);
break;
}
}
}
}

4
libs/infrared-sensor/ir.ts
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@ -138,12 +138,12 @@ namespace sensors {
//% fixedInstances
export class InfraredSensor extends internal.UartSensor {
private channel: IrRemoteChannel;
private proximityThreshold: sensors.internal.ThresholdDetector;
private proximityThreshold: sensors.ThresholdDetector;
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
this.proximityThreshold = new sensors.internal.ThresholdDetector(this._id, 0, 100, 10, 90);
this.proximityThreshold = new sensors.ThresholdDetector(this._id, 0, 100, 10, 90);
irButton(0) // make sure buttons array is initalized
// and set the mode, as otherwise button events won't work

8
libs/ultrasonic-sensor/ultrasonic.ts
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@ -2,21 +2,21 @@ enum UltrasonicSensorEvent {
//% block="object detected"
ObjectDetected = 10,
//% block="object near"
ObjectNear = sensors.internal.ThresholdState.Low,
ObjectNear = sensors.ThresholdState.Low,
//% block="object far"
ObjectFar = sensors.internal.ThresholdState.High
ObjectFar = sensors.ThresholdState.High
}
namespace sensors {
//% fixedInstances
export class UltraSonicSensor extends internal.UartSensor {
private promixityThreshold: sensors.internal.ThresholdDetector;
private promixityThreshold: sensors.ThresholdDetector;
private movementThreshold: number;
constructor(port: number) {
super(port)
this.promixityThreshold = new sensors.internal.ThresholdDetector(this.id(), 0, 255, 10, 100); // range is 0..255cm
this.promixityThreshold = new sensors.ThresholdDetector(this.id(), 0, 255, 10, 100); // range is 0..255cm
this.movementThreshold = 1;
}