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Diffstat (limited to 'n/es-2006/src/sniff_rvb.c')
-rw-r--r--n/es-2006/src/sniff_rvb.c7
1 files changed, 4 insertions, 3 deletions
diff --git a/n/es-2006/src/sniff_rvb.c b/n/es-2006/src/sniff_rvb.c
index e62ac17..8c5aef6 100644
--- a/n/es-2006/src/sniff_rvb.c
+++ b/n/es-2006/src/sniff_rvb.c
@@ -38,7 +38,7 @@ uint16_t sniff_rvb_reference_color[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX];
uint16_t sniff_rvb_reference_color_min[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX];
uint16_t sniff_rvb_reference_color_max[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX];
/** Ratio for the computing the min/max value from the reference color. */
-uint8_t sniff_rvb_ref_ratio = 4;
+uint8_t sniff_rvb_ref_ratio = 3;
/* test with new robot clothes */
/* ball black/white detection */
@@ -59,7 +59,7 @@ sniff_rvb_try_reference (uint8_t sensor_num, uint16_t
{
uint8_t compt;
/* If sensor is valid */
- if (sensor_rvb_values[sensor_num][0] != 0)
+ if (sensor_rvb_values[sensor_num][0] < RVB_INVALID_CAPTURE)
{
/* For each color add this value by averrage */
for (compt = 0; compt < RVB_SNIFF_MAX_INDEX; compt++)
@@ -86,7 +86,8 @@ sniff_rvb_ball (uint8_t sensor)
if ((sensor_rvb_values[sensor][RVB_INDEX_GREEN] > green_limit)
&& (sensor_rvb_values[sensor][RVB_INDEX_CLEAR] > clear_limit))
return RVB_SNIFF_BLACK;
- else return RVB_SNIFF_WHITE;
+ else
+ return RVB_SNIFF_WHITE;
}
/* Test blue or red */