ArduinoでTCS3200カラーセンサー：配線、キャリブレーション、コード

1// TCS3200 ile ham R, G, B okuma / Raw R, G, B reading with the TCS3200
2const int S0 = 4;
3const int S1 = 5;
4const int S2 = 6;
5const int S3 = 7;
6const int OUT_PIN = 8;
7
8// Filtreyi seçer, 10 darbenin ortalama LOW süresini döndürür (µs) / Selects a filter, returns the average LOW time of 10 pulses (µs)
9unsigned long readPulse(bool s2, bool s3) {
10  digitalWrite(S2, s2 ? HIGH : LOW);
11  digitalWrite(S3, s3 ? HIGH : LOW);
12  delay(5);                                           // çıkışın oturmasını bekle / let the output settle
13  unsigned long total = 0;
14  int count = 0;
15  for (int i = 0; i < 10; i++) {
16    unsigned long t = pulseIn(OUT_PIN, LOW, 50000UL); // 50 ms zaman aşımı / 50 ms timeout
17    if (t > 0) {
18      total += t;
19      count++;
20    }
21  }
22  return count > 0 ? total / count : 50000UL;         // darbe yoksa çok karanlık / no pulse means very dark
23}
24
25void setup() {
26  pinMode(S0, OUTPUT);
27  pinMode(S1, OUTPUT);
28  pinMode(S2, OUTPUT);
29  pinMode(S3, OUTPUT);
30  pinMode(OUT_PIN, INPUT);
31  digitalWrite(S0, HIGH);                             // S0=HIGH, S1=LOW: %20 ölçek / 20% scaling
32  digitalWrite(S1, LOW);
33  Serial.begin(9600);
34}
35
36void loop() {
37  unsigned long r = readPulse(false, false);          // kırmızı filtre / red filter
38  unsigned long g = readPulse(true, true);            // yeşil filtre / green filter
39  unsigned long b = readPulse(false, true);           // mavi filtre / blue filter
40  Serial.print("R: ");
41  Serial.print(r);
42  Serial.print("  G: ");
43  Serial.print(g);
44  Serial.print("  B: ");
45  Serial.println(b);
46  delay(500);
47}

1// TCS3200 ile kalibrasyonlu renk tanıma / Calibrated color recognition with the TCS3200
2const int S0 = 4, S1 = 5, S2 = 6, S3 = 7, OUT_PIN = 8;
3
4// Kalibrasyonda ölçtüğün süreler (µs), kendi değerlerinle değiştir / Pulse widths from your calibration (µs), use your own
5const float WHITE_R = 16, WHITE_G = 20, WHITE_B = 18;     // beyaz kağıt / white paper
6const float BLACK_R = 140, BLACK_G = 170, BLACK_B = 150;  // siyah kağıt / black paper
7
8struct ColorRef {
9  const char *name;
10  float r, g, b;                                          // renk oranları, toplamı 1 / color ratios, sum is 1
11};
12
13// Örnek referanslar, kendi ölçümlerinle değiştir / Sample references, replace with your own measurements
14ColorRef refs[] = {
15  {"Kirmizi / Red",    0.58, 0.20, 0.22},
16  {"Turuncu / Orange", 0.55, 0.30, 0.15},
17  {"Sari / Yellow",    0.42, 0.40, 0.18},
18  {"Yesil / Green",    0.24, 0.46, 0.30},
19  {"Mavi / Blue",      0.18, 0.30, 0.52},
20  {"Mor / Purple",     0.40, 0.20, 0.40}
21};
22const int REF_COUNT = sizeof(refs) / sizeof(refs[0]);
23const float MAX_DIST = 0.02;                              // bundan uzaksa bilinmiyor / farther than this is unknown
24
25unsigned long readPulse(bool s2, bool s3) {
26  digitalWrite(S2, s2 ? HIGH : LOW);
27  digitalWrite(S3, s3 ? HIGH : LOW);
28  delay(5);
29  unsigned long total = 0;
30  int count = 0;
31  for (int i = 0; i < 10; i++) {
32    unsigned long t = pulseIn(OUT_PIN, LOW, 50000UL);
33    if (t > 0) {
34      total += t;
35      count++;
36    }
37  }
38  return count > 0 ? total / count : 50000UL;
39}
40
41// Süreyi frekansa çevirip 0-255 arasına ölçekler / Converts the pulse width to frequency and scales it to 0-255
42float toLevel(unsigned long t, float tWhite, float tBlack) {
43  float f = 1.0 / t;                                      // ışık frekansla orantılı / light is proportional to frequency
44  float fWhite = 1.0 / tWhite;
45  float fBlack = 1.0 / tBlack;
46  float level = (f - fBlack) / (fWhite - fBlack) * 255.0;
47  return constrain(level, 0.0, 255.0);
48}
49
50// En yakın referans rengi bulur / Finds the nearest reference color
51const char *classify(float R, float G, float B) {
52  float sum = R + G + B;
53  if (sum < 90) return "Siyah / Black";                  // çok az ışık / very little light
54  if (R > 200 && G > 200 && B > 200) return "Beyaz / White";
55  float r = R / sum, g = G / sum, b = B / sum;           // parlaklıktan bağımsız oranlar / brightness-independent ratios
56  int best = 0;
57  float bestDist = 1e9;
58  for (int i = 0; i < REF_COUNT; i++) {
59    float d = sq(r - refs[i].r) + sq(g - refs[i].g) + sq(b - refs[i].b);  // uzaklığın karesi / squared distance
60    if (d < bestDist) {
61      bestDist = d;
62      best = i;
63    }
64  }
65  if (bestDist > MAX_DIST) return "Bilinmiyor / Unknown";
66  return refs[best].name;
67}
68
69void setup() {
70  pinMode(S0, OUTPUT);
71  pinMode(S1, OUTPUT);
72  pinMode(S2, OUTPUT);
73  pinMode(S3, OUTPUT);
74  pinMode(OUT_PIN, INPUT);
75  digitalWrite(S0, HIGH);                                 // %20 ölçek / 20% scaling
76  digitalWrite(S1, LOW);
77  Serial.begin(9600);
78}
79
80void loop() {
81  float R = toLevel(readPulse(false, false), WHITE_R, BLACK_R);
82  float G = toLevel(readPulse(true, true), WHITE_G, BLACK_G);
83  float B = toLevel(readPulse(false, true), WHITE_B, BLACK_B);
84  float sum = R + G + B;
85  Serial.print("R=");
86  Serial.print(R, 0);
87  Serial.print(" G=");
88  Serial.print(G, 0);
89  Serial.print(" B=");
90  Serial.print(B, 0);
91  if (sum > 0) {                                          // referans için oranlar / ratios for your references
92    Serial.print("  r=");
93    Serial.print(R / sum, 2);
94    Serial.print(" g=");
95    Serial.print(G / sum, 2);
96    Serial.print(" b=");
97    Serial.print(B / sum, 2);
98  }
99  Serial.print("  -> ");
100  Serial.println(classify(R, G, B));
101  delay(500);
102}

1// TCS3200 ve iki servoyla renk ayırıcı / Color sorter with a TCS3200 and two servos
2#include <Servo.h>
3
4const int S0 = 4, S1 = 5, S2 = 6, S3 = 7, OUT_PIN = 8;
5const int FEEDER_PIN = 9;                 // besleme servosu / feeder servo
6const int CHUTE_PIN = 10;                 // yönlendirme servosu / chute servo
7
8const int LOAD_ANGLE = 160;               // huninin altı / under the hopper
9const int SENSOR_ANGLE = 95;              // sensörün önü / in front of the sensor
10const int DROP_ANGLE = 30;                // bırakma deliği / drop hole
11
12// Kalibrasyon süreleri (µs) / Calibration pulse widths (µs)
13const float WHITE_R = 16, WHITE_G = 20, WHITE_B = 18;
14const float BLACK_R = 140, BLACK_G = 170, BLACK_B = 150;
15
16Servo feeder;
17Servo chute;
18
19unsigned long readPulse(bool s2, bool s3) {
20  digitalWrite(S2, s2 ? HIGH : LOW);
21  digitalWrite(S3, s3 ? HIGH : LOW);
22  delay(5);
23  unsigned long total = 0;
24  int count = 0;
25  for (int i = 0; i < 10; i++) {
26    unsigned long t = pulseIn(OUT_PIN, LOW, 50000UL);
27    if (t > 0) {
28      total += t;
29      count++;
30    }
31  }
32  return count > 0 ? total / count : 50000UL;
33}
34
35float toLevel(unsigned long t, float tWhite, float tBlack) {
36  float f = 1.0 / t;
37  float level = (f - 1.0 / tBlack) / (1.0 / tWhite - 1.0 / tBlack) * 255.0;
38  return constrain(level, 0.0, 255.0);
39}
40
41// Baskın kanala göre kutu açısını seçer / Picks the bin angle from the dominant channel
42int binAngle(float R, float G, float B) {
43  if (R + G + B < 90) return 165;                     // çok koyu: diğer kutusu / too dark: "other" bin
44  if (R > G * 1.3 && R > B * 1.3) return 30;          // kırmızı kutusu / red bin
45  if (G > R * 1.3 && G > B * 1.3) return 75;          // yeşil kutusu / green bin
46  if (B > R * 1.3 && B > G * 1.3) return 120;         // mavi kutusu / blue bin
47  return 165;                                         // karar verilemedi / undecided
48}
49
50void setup() {
51  pinMode(S0, OUTPUT);
52  pinMode(S1, OUTPUT);
53  pinMode(S2, OUTPUT);
54  pinMode(S3, OUTPUT);
55  pinMode(OUT_PIN, INPUT);
56  digitalWrite(S0, HIGH);                             // %20 ölçek / 20% scaling
57  digitalWrite(S1, LOW);
58  feeder.attach(FEEDER_PIN);
59  chute.attach(CHUTE_PIN);
60  feeder.write(LOAD_ANGLE);
61  delay(500);
62}
63
64void loop() {
65  feeder.write(LOAD_ANGLE);                           // huniden bir nesne al / take one object from the hopper
66  delay(600);
67  feeder.write(SENSOR_ANGLE);                         // sensörün önüne getir / bring it to the sensor
68  delay(600);                                         // servo dursun, titreşim geçsin / let the servo settle
69  float R = toLevel(readPulse(false, false), WHITE_R, BLACK_R);
70  float G = toLevel(readPulse(true, true), WHITE_G, BLACK_G);
71  float B = toLevel(readPulse(false, true), WHITE_B, BLACK_B);
72  chute.write(binAngle(R, G, B));                     // kanalı doğru kutuya çevir / aim the chute at the right bin
73  delay(400);
74  feeder.write(DROP_ANGLE);                           // nesneyi kanala bırak / drop the object into the chute
75  delay(600);
76}

1// ESP32: kesmeyle TCS3200 frekans ölçümü / ESP32: TCS3200 frequency measurement with an interrupt
2const int S0 = 32, S1 = 33, S2 = 25, S3 = 26, OUT_PIN = 27;
3
4volatile uint32_t pulseCount = 0;
5
6void IRAM_ATTR onPulse() {
7  pulseCount++;                                       // her yükselen kenarda say / count every rising edge
8}
9
10// Seçilen filtrenin frekansını Hz olarak döndürür / Returns the frequency of the selected filter in Hz
11uint32_t readHz(bool s2, bool s3) {
12  digitalWrite(S2, s2 ? HIGH : LOW);
13  digitalWrite(S3, s3 ? HIGH : LOW);
14  delay(5);                                           // çıkış otursun / let the output settle
15  pulseCount = 0;
16  delay(50);                                          // 50 ms boyunca say / count for 50 ms
17  return pulseCount * 20;                             // 50 ms x 20 = 1 saniye / 1 second
18}
19
20void setup() {
21  Serial.begin(115200);
22  pinMode(S0, OUTPUT);
23  pinMode(S1, OUTPUT);
24  pinMode(S2, OUTPUT);
25  pinMode(S3, OUTPUT);
26  pinMode(OUT_PIN, INPUT);
27  digitalWrite(S0, HIGH);                             // %20 ölçek / 20% scaling
28  digitalWrite(S1, LOW);
29  attachInterrupt(digitalPinToInterrupt(OUT_PIN), onPulse, RISING);
30}
31
32void loop() {
33  uint32_t r = readHz(false, false);                  // kırmızı / red
34  uint32_t g = readHz(true, true);                    // yeşil / green
35  uint32_t b = readHz(false, true);                   // mavi / blue
36  Serial.print("R: ");
37  Serial.print(r);
38  Serial.print(" Hz  G: ");
39  Serial.print(g);
40  Serial.print(" Hz  B: ");
41  Serial.print(b);
42  Serial.println(" Hz");
43  delay(300);
44}

1# Pico + TCS3200: süreden frekansa ve 0-255 seviyesine / Pico + TCS3200: from pulse width to frequency and a 0-255 level
2from machine import Pin, time_pulse_us
3import time
4
5s0 = Pin(2, Pin.OUT)
6s1 = Pin(3, Pin.OUT)
7s2 = Pin(4, Pin.OUT)
8s3 = Pin(5, Pin.OUT)
9out = Pin(6, Pin.IN)
10
11s0.value(0)                                    # S0=0, S1=1: %2 ölçek / 2% scaling
12s1.value(1)
13
14FILTERS = {"R": (0, 0), "G": (1, 1), "B": (0, 1)}   # S2, S3 değerleri / S2, S3 values
15WHITE_HZ = {"R": 3125, "G": 2500, "B": 2778}        # beyaz kağıtta Hz / Hz on white paper
16BLACK_HZ = {"R": 357, "G": 294, "B": 333}           # siyah kağıtta Hz / Hz on black paper
17
18def read_hz(channel, samples=10):
19    s2.value(FILTERS[channel][0])
20    s3.value(FILTERS[channel][1])
21    time.sleep_ms(5)                           # çıkış otursun / let the output settle
22    total = 0
23    count = 0
24    for _ in range(samples):
25        time_pulse_us(out, 1, 50000)           # HIGH bitsin, LOW başında ol / wait for HIGH to end
26        t = time_pulse_us(out, 0, 50000)       # LOW süresi, µs / LOW time, µs
27        if t > 0:                              # negatif = zaman aşımı / negative = timeout
28            total += t
29            count += 1
30    if count == 0:
31        return 0
32    return 1000000 / (2 * total / count)       # f = 1 / (2t)
33
34def level(channel, hz):
35    v = (hz - BLACK_HZ[channel]) / (WHITE_HZ[channel] - BLACK_HZ[channel]) * 255
36    return max(0, min(255, int(v)))
37
38while True:
39    r = level("R", read_hz("R"))
40    g = level("G", read_hz("G"))
41    b = level("B", read_hz("B"))
42    print("R:", r, "G:", g, "B:", b)
43    time.sleep(0.5)

1// TCS34725 ile ham RGBC, renk sıcaklığı ve lüks / Raw RGBC, color temperature and lux with the TCS34725
2#include <Wire.h>
3#include <Adafruit_TCS34725.h>
4
5// 50 ms entegrasyon süresi, 4x kazanç / 50 ms integration time, 4x gain
6Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
7
8void setup() {
9  Serial.begin(9600);
10  if (!tcs.begin()) {                                 // 0x29 adresinde ara / look for it at 0x29
11    Serial.println("TCS34725 bulunamadi / not found");
12    while (true) {
13      delay(1000);
14    }
15  }
16}
17
18void loop() {
19  uint16_t r, g, b, c;
20  tcs.getRawData(&r, &g, &b, &c);                     // 16 bit ham değerler / 16-bit raw values
21  uint16_t kelvin = tcs.calculateColorTemperature_dn40(r, g, b, c);
22  uint16_t lux = tcs.calculateLux(r, g, b);
23  Serial.print("R: ");
24  Serial.print(r);
25  Serial.print("  G: ");
26  Serial.print(g);
27  Serial.print("  B: ");
28  Serial.print(b);
29  Serial.print("  C: ");
30  Serial.print(c);
31  Serial.print("  K: ");
32  Serial.print(kelvin);
33  Serial.print("  Lux: ");
34  Serial.println(lux);
35  delay(500);
36}