From 5ce29a28ead5a2440d207dc05b1872b1c58b0756 Mon Sep 17 00:00:00 2001
From: Thomas VADEBOUT <thomas.vadebout@insa-lyon.fr>
Date: Tue, 29 Jun 2021 00:11:46 +0000
Subject: [PATCH] add integral time divider and add spinOnce
---
src/Adafruit_TCS34725.cpp | 17 +++++++++++------
src/main.cpp | 1 +
2 files changed, 12 insertions(+), 6 deletions(-)
diff --git a/src/Adafruit_TCS34725.cpp b/src/Adafruit_TCS34725.cpp
index 4438113..bb3a9e8 100644
--- a/src/Adafruit_TCS34725.cpp
+++ b/src/Adafruit_TCS34725.cpp
@@ -24,6 +24,10 @@
#define ARDUINO 200
+// allow to divide delay time by this factor. Put the number of sensor here.
+// todo : make a better fix that don't use delay anymore.
+#define INTEG_DIVIDER 2
+
#include <math.h>
#include <stdlib.h>
@@ -285,25 +289,26 @@ void Adafruit_TCS34725::getRawData(uint16_t *r, uint16_t *g, uint16_t *b,
*g = read16(TCS34725_GDATAL);
*b = read16(TCS34725_BDATAL);
+
/* Set a delay for the integration time */
switch (_tcs34725IntegrationTime) {
case TCS34725_INTEGRATIONTIME_2_4MS:
- delay(3);
+ delay((3/INTEG_DIVIDER) + 1);
break;
case TCS34725_INTEGRATIONTIME_24MS:
- delay(24);
+ delay((24/INTEG_DIVIDER) + 1);
break;
case TCS34725_INTEGRATIONTIME_50MS:
- delay(50);
+ delay((50/INTEG_DIVIDER) + 1);
break;
case TCS34725_INTEGRATIONTIME_101MS:
- delay(101);
+ delay((101/INTEG_DIVIDER) + 1);
break;
case TCS34725_INTEGRATIONTIME_154MS:
- delay(154);
+ delay((154/INTEG_DIVIDER) + 1);
break;
case TCS34725_INTEGRATIONTIME_700MS:
- delay(700);
+ delay((700/INTEG_DIVIDER) + 1);
break;
}
}
diff --git a/src/main.cpp b/src/main.cpp
index 3815bf4..eec42ad 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -339,6 +339,7 @@ void colorSensorsLoop(){
hsv_msg.z = v;
color_sensor_right.publish( &hsv_msg );
+ nh.spinOnce();
}
void loop()
--
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