From cd5ec8e2e823efa9ae25d1f7f1209e2839adb6ff Mon Sep 17 00:00:00 2001
From: Shahrul Kamil bin Hassan <shahrulkamil98@g.ucla.edu>
Date: Thu, 30 Sep 2021 18:44:01 +0000
Subject: [PATCH] Upload New File
---
Code/Main Feather Code/utilities.cpp | 83 ++++++++++++++++++++++++++++
1 file changed, 83 insertions(+)
create mode 100644 Code/Main Feather Code/utilities.cpp
diff --git a/Code/Main Feather Code/utilities.cpp b/Code/Main Feather Code/utilities.cpp
new file mode 100644
index 0000000..7a90e33
--- /dev/null
+++ b/Code/Main Feather Code/utilities.cpp
@@ -0,0 +1,83 @@
+#include <math.h>
+
+//Source: http://www.easyrgb.com/index.php?X=MATH&H=01#text1
+void lab2rgb( float l_s, float a_s, float b_s, float& R, float& G, float& B )
+{
+ float var_Y = ( l_s + 16. ) / 116.;
+ float var_X = a_s / 500. + var_Y;
+ float var_Z = var_Y - b_s / 200.;
+
+ if ( pow(var_Y,3) > 0.008856 ) var_Y = pow(var_Y,3);
+ else var_Y = ( var_Y - 16. / 116. ) / 7.787;
+ if ( pow(var_X,3) > 0.008856 ) var_X = pow(var_X,3);
+ else var_X = ( var_X - 16. / 116. ) / 7.787;
+ if ( pow(var_Z,3) > 0.008856 ) var_Z = pow(var_Z,3);
+ else var_Z = ( var_Z - 16. / 116. ) / 7.787;
+
+ float X = 95.047 * var_X ; //ref_X = 95.047 Observer= 2°, Illuminant= D65
+ float Y = 100.000 * var_Y ; //ref_Y = 100.000
+ float Z = 108.883 * var_Z ; //ref_Z = 108.883
+
+
+ var_X = X / 100. ; //X from 0 to 95.047 (Observer = 2°, Illuminant = D65)
+ var_Y = Y / 100. ; //Y from 0 to 100.000
+ var_Z = Z / 100. ; //Z from 0 to 108.883
+
+ float var_R = var_X * 3.2406 + var_Y * -1.5372 + var_Z * -0.4986;
+ float var_G = var_X * -0.9689 + var_Y * 1.8758 + var_Z * 0.0415;
+ float var_B = var_X * 0.0557 + var_Y * -0.2040 + var_Z * 1.0570;
+
+ if ( var_R > 0.0031308 ) var_R = 1.055 * pow(var_R , ( 1 / 2.4 )) - 0.055;
+ else var_R = 12.92 * var_R;
+ if ( var_G > 0.0031308 ) var_G = 1.055 * pow(var_G , ( 1 / 2.4 ) ) - 0.055;
+ else var_G = 12.92 * var_G;
+ if ( var_B > 0.0031308 ) var_B = 1.055 * pow( var_B , ( 1 / 2.4 ) ) - 0.055;
+ else var_B = 12.92 * var_B;
+
+ R = var_R * 255.;
+ G = var_G * 255.;
+ B = var_B * 255.;
+
+}
+
+
+
+
+
+//old codes
+
+// motorVertical->setSpeed(0);
+// motorVertical->run(FORWARD);
+// // turn on motor
+// motorVertical->run(RELEASE);
+// Serial.println(SEEKING_SPEED);
+// motorLeft->setSpeed(SEEKING_SPEED);
+// motorLeft->run(FORWARD);
+// motorRight->setSpeed(SEEKING_SPEED);
+
+// if (abs(Outputx) < 125){
+// motorRight->setSpeed(BASE_SPEED - Outputx);
+// motorRight->run(BACKWARD);
+// motorLeft->setSpeed(BASE_SPEED + Outputx); //this need to be higher
+// motorLeft->run(BACKWARD);
+// } else if (Outputx >= 125) { //propeller push in opposite direction, moving to the right
+// motorRight->setSpeed(Outputx);
+// motorRight->run(FORWARD);
+// motorLeft->setSpeed(255); //this need to be higher
+// motorLeft->run(BACKWARD);
+// } else {
+// motorRight->setSpeed(255);
+// motorRight->run(BACKWARD);
+// motorLeft->setSpeed(Outputx); //this need to be higher
+// motorLeft->run(FORWARD);
+// }
+
+// motorVertical->setSpeed(0);
+// motorVertical->run(FORWARD);
+// // turn on motor
+// motorVertical->run(RELEASE);
+// motorLeft->setSpeed(0);
+// motorLeft->run(FORWARD);
+// motorRight->setSpeed(0);
+// motorRight->run(BACKWARD);
+// motorRight->run(BACKWARD);
--
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