working code for new arduino based sorter

Thank you M for teaching me how to compare colors

Author: md1024

arduino/sort_test/ColorMath.cpp

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+#include "ColorMath.h"
+#include "Arduino.h"
+ColorMath::ColorMath() {
+
+}
+int ColorMath::get_raw_diff(uint16_t tgt_read_a[], uint16_t tgt_read_b[]) {
+  int sum=0;
+  for(int i=0;i<10;i++) {
+    sum+=abs(tgt_read_a[i]-tgt_read_b[i]);
+  }
+  return int(sum/8);
+}
+double ColorMath::get_trig_diff(uint16_t tgt_read_a[], uint16_t tgt_read_b[]) {
+  double sum = 0;
+  for(int i=0;i<8;i++) {
+    sum+= sq(tgt_read_a[i]-tgt_read_b[i]);
+  }
+  return sqrt(sum);
+}
+double ColorMath::get_cos_dist(uint16_t tgt_read_a[], uint16_t tgt_read_b[]) { //Thank you M for teaching me how this works
+  return abs(1.00 - (pairwise_product(tgt_read_a,tgt_read_b) / (get_mag(tgt_read_a)*get_mag(tgt_read_b))));
+
+
+  // return pairwise_product(tgt_read_a,tgt_read_b) / (get_mag(tgt_read_a)*get_mag(tgt_read_b));
+}
+
+double ColorMath::get_mag(uint16_t tgt_read_a[]) {
+  double sum = 0;
+  for(int i=0; i<8; i++ ) { 
+    sum+= tgt_read_a[i] * tgt_read_a[i];//sq(tgt_read_a[i]);
+  }
+  return sqrt(sum);
+}
+double ColorMath::pairwise_product(uint16_t tgt_read_a[],uint16_t tgt_read_b[]){
+  double sum = 0;
+  for(int i=0;i<8;i++) {
+    sum += tgt_read_a[i] * tgt_read_b[i];
+  }
+  return sum;
+}

arduino/sort_test/ColorMath.h

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+#ifndef ColorMath_h
+#define ColorMath_h
+#include "Arduino.h"
+class ColorMath
+{
+  public:
+    ColorMath();
+    int get_raw_diff(uint16_t tgt_read_a[], uint16_t tgt_read_b[]);
+    double get_cos_dist(uint16_t tgt_read_a[], uint16_t tgt_read_b[]);
+    double get_trig_diff(uint16_t tgt_read_a[], uint16_t tgt_read_b[]);
+  private:
+    bool _debug;
+    double get_mag(uint16_t tgt_read_a[]);
+    double pairwise_product(uint16_t tgt_read_a[],uint16_t tgt_read_b[]);
+};
+#endif

arduino/sort_test/sort_test.ino

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+#include <Adafruit_AS7341.h>
+#include <Stepper.h>
+#include <Servo.h>
+#include "ColorMath.h"
+
+
+#define SERVO_PIN A2
+#define SERVO_CYCLE 200
+bool agg_state = true;
+Servo agg_servo;
+
+Adafruit_AS7341 as7341;
+
+#define SENSOR_SIZE 8
+uint16_t blank_readings[SENSOR_SIZE] = {1,1,1,1,1,1,1,1};
+uint16_t tgt_readings[SENSOR_SIZE] = {6,61,52,72,65,54,46,26}; 
+uint16_t max_reading[SENSOR_SIZE] = {0,0,0,0,0,0,0,0};
+double max_read = 0;
+double avg_read = 0.0;
+
+bool sort_mode = false;
+unsigned long myTime = 0;
+//joystick
+
+#define VRX_PIN  A0 // Arduino pin connected to VRX pin
+#define VRY_PIN  A1 // Arduino pin connected to VRY pin
+#define SW_PIN 2
+// ezButton button(SW_PIN);
+#define SORT_MODE_PIN 4
+#define WIGGLE_RANGE 10
+#define GRAB_RANGE 30
+int x_val = 0; // To store value of the X axis
+int y_val = 0; // To store value of the Y axis
+#define JOYSTICK_CAL_CNT 20
+int button_val = 0; // To store value of the button
+
+#define LED_CURRENT 10
+#define ATIME_VAL 99
+#define ASTEP_VAL 499
+
+
+#define ENDSTOP_PIN 3
+int endstop_val = 0;
+#define _RANGE 10
+#define CENTER_POS 90
+
+//stepper
+#define STEPS_PER_REV 2038
+#define CHAMBER_SPEED 6
+#define EXHUAST_SPEED 10
+int step_dir=0;
+Stepper ch_stepper = Stepper(STEPS_PER_REV, 13,11,12,10); //chamber stepper
+Stepper ex_stepper = Stepper(STEPS_PER_REV, 8,6,7,5); //exhaust stepper
+
+#define GAP_TO_EXHAUST 200
+
+bool found_buffer = false;
+#define PEAK_BUFFER_SIZE 10
+double max_readings[PEAK_BUFFER_SIZE];
+uint16_t cur_read_array[PEAK_BUFFER_SIZE][SENSOR_SIZE];
+ColorMath cm;
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for communication with the host computer serial monitor
+  while (!Serial) {
+    delay(1);
+  }
+  Serial.println("code Starting");
+  if (!as7341.begin()){
+    Serial.println("code Could not find AS7341");
+    while (1) { delay(10); }
+  } 
+  //initializer buffer
+
+  Serial.println("code\tBUFFER STUFF");
+  for(int i=0;i<PEAK_BUFFER_SIZE;i++) {
+    for(int j=0;j<SENSOR_SIZE;j++) {
+      cur_read_array[i][j] = 1;
+    }
+  }
+  reset_max_array();
+  pinMode(ENDSTOP_PIN,INPUT_PULLUP);
+  pinMode(SW_PIN, INPUT_PULLUP);
+  pinMode(SORT_MODE_PIN,INPUT_PULLUP);
+
+  // SETUP READER
+  as7341.enableLED(true);
+  as7341.setATIME(ATIME_VAL);
+  as7341.setASTEP(ASTEP_VAL);
+  as7341.enableSpectralInterrupt(false);
+  as7341.setLEDCurrent(LED_CURRENT);
+  as7341.setGain(AS7341_GAIN_1X);
+  ch_stepper.setSpeed(CHAMBER_SPEED);
+  ex_stepper.setSpeed(EXHUAST_SPEED);
+
+  //Servo initialization
+  Serial.println("code\tWHATWHAT");
+  agg_servo.attach(SERVO_PIN);
+  agg_servo.write(90);
+  reset_exhaust();
+  step_dir = -10;
+  //manual
+  Serial.println("code\tstarting intial reads");
+  for(int i=0;i<PEAK_BUFFER_SIZE;i++) {
+    read_cur_color();
+    ch_stepper.step(-1);
+  }
+  Serial.println("code\tSETUP COMPLETE");
+}
+void reset_max_array(){
+  for(int i=0;i<PEAK_BUFFER_SIZE;i++) {
+    max_readings[i]=999-i;
+  }
+  for(int i=0;i<SENSOR_SIZE;i++) {
+    max_reading[i]=1;
+  }
+  Serial.println("code\treset max array compelted");
+}
+void reset_exhaust() {
+  endstop_val = digitalRead(ENDSTOP_PIN);
+  while(endstop_val!=0) {
+    ex_stepper.step(1);
+    endstop_val = digitalRead(ENDSTOP_PIN);
+  }
+  Serial.println("code exhaust reset complete");
+  delay(100);
+}
+void set_max_reading(uint16_t tgt_read_a[]) {
+  for(int i=0;i<SENSOR_SIZE;i++) {
+    if(tgt_read_a[i]<max_reading[i]) {
+      return;
+    }
+  }
+
+  for(int i=0;i<SENSOR_SIZE;i++) {
+    max_reading[i]= tgt_read_a[i];
+  
+  }
+}
+void print_max_color() {
+  Serial.print("maxx");
+  for(int i=0;i<SENSOR_SIZE;i++) {
+    Serial.print(max_reading[i]);
+    Serial.print("\t");
+  }
+  Serial.println("");
+}
+void read_cur_color() {
+  uint16_t cur_reading[SENSOR_SIZE] ={1,1,1,1,1,1,1,1};
+  as7341.readAllChannels();
+  cur_reading[0] = as7341.getChannel(AS7341_CHANNEL_415nm_F1);
+  cur_reading[1] = as7341.getChannel(AS7341_CHANNEL_445nm_F2);
+  cur_reading[2] = as7341.getChannel(AS7341_CHANNEL_480nm_F3);
+  cur_reading[3] = as7341.getChannel(AS7341_CHANNEL_515nm_F4);
+  cur_reading[4] = as7341.getChannel(AS7341_CHANNEL_555nm_F5);
+  cur_reading[5] = as7341.getChannel(AS7341_CHANNEL_590nm_F6);
+  cur_reading[6] = as7341.getChannel(AS7341_CHANNEL_630nm_F7);
+  cur_reading[7] = as7341.getChannel(AS7341_CHANNEL_680nm_F8);
+  for(int i=PEAK_BUFFER_SIZE-1;i>0;i--) {
+    max_readings[i] = max_readings[i-1];  //shift max readings
+    for(int j=0;j<SENSOR_SIZE;j++) {
+      cur_read_array[i][j] = cur_read_array[i-1][j];
+    }
+  }
+  for(int i=0;i<SENSOR_SIZE;i++) {
+    cur_read_array[0][i] = cur_reading[i];
+    Serial.print(cur_read_array[0][i]);
+    Serial.print("\t");
+  }
+  set_max_reading(cur_reading);
+  double cur_max = cm.get_trig_diff(cur_reading,blank_readings);
+  max_readings[0]=cur_max;
+  Serial.print(max_readings[0]);
+    
+  double cur_diff = cm.get_cos_dist(tgt_readings,cur_reading);
+  Serial.print("\t");
+  Serial.print(cur_diff,6);
+  double cur_max_diff = cm.get_cos_dist(tgt_readings,max_reading);
+  Serial.print("\t");
+  Serial.println(cur_max_diff,6);
+  // step_dir = map_ch_speed(max_readings[0]);
+  print_max_color();
+}
+bool ended_peak() {
+  //do stuff to detect the peak
+  for(int i=0;i<PEAK_BUFFER_SIZE-1;i++) {
+    if(max_readings[i]>max_readings[i+1]) {
+      return false;
+    }
+  }
+  return true;
+}
+int map_ch_speed(int tgt_reading){
+  return map(min(tgt_reading,120),10,120,-30,-2);
+}
+void save_tgt_color() {
+  Serial.println("code 0,0,0,0,0,0,0,0,0,0,0");
+  as7341.readAllChannels();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  x_val = analogRead(VRX_PIN);
+  y_val = analogRead(VRY_PIN);
+  
+  button_val = digitalRead(SW_PIN);
+  endstop_val = digitalRead(ENDSTOP_PIN);
+  sort_mode = digitalRead(SORT_MODE_PIN);
+
+  ch_stepper.step(step_dir);
+  
+  //if sort_mode enabled
+  read_cur_color();
+  if(ended_peak()) {
+    double cur_diff = cm.get_cos_dist(tgt_readings,max_reading);
+    Serial.print("code\twe found a peak ");
+    Serial.println(cur_diff,6);
+    if(sort_mode) {
+      reset_exhaust();
+      if(cur_diff<0.002){
+        Serial.print("code\tmatch found ");
+        Serial.println(cur_diff,6);
+        ex_stepper.step(-STEPS_PER_REV*0.2);
+      
+      } else {
+      }
+      ch_stepper.step(-STEPS_PER_REV/4);
+      ch_stepper.step(int(STEPS_PER_REV*0.1));
+      reset_exhaust();
+    }
+    reset_max_array();
+
+  }
+  myTime+=1;
+
+  if(myTime < SERVO_CYCLE) {
+    agg_servo.write(90);
+  }
+  if(myTime >SERVO_CYCLE && myTime < SERVO_CYCLE+50){
+    agg_servo.write(96);
+  }
+  if(myTime>SERVO_CYCLE+50) {
+    myTime = 0;
+  }
+}