{{
  CameraColorSampler.spin

  This program determines the color of an object that is placed about 8cm
  in front of the camera.   It takes 10 samples and returns the RGB values
  corresponding to the color appearing in a small window near the center
  of the camera image.  This cam then be used for tracking.
  
}}


CON
  _clkmode   = xtal1 + pll16x     ' This is required for proper timing
  _xinfreq   = 5_000_000          ' This is required for proper timing                       

  
OBJ
  CMUCam:     "CMUCam"
  RBC:        "RBC"   
  Beeper:     "Beeper"           

VAR
  word  R, G, B     


PUB Main
  Beeper.Startup

  RBC.Init                    ' Set up bluetooth and wait for Play button to be pressed on PC
  CMUCam.Start

  RBC.DebugStrCr(string("Place Object about 5cm in front of the camera ..."))
  CMUCam.SetConstrainedWindow(35, 64, 45, 80)

  'Wait about 2 seconds
  waitcnt(cnt + 200_000_000)

  repeat
    Beeper.Beep(4, 300)

    CMUCam.ReadColor
    R := CMUCam.GetRed
    G := CMUCam.GetGreen
    B := CMUCam.GetBlue  
  
    RBC.DebugStr(string("Color value of object: (R,G,B) = "))
  
    RBC.DebugLong(R)
    RBC.DebugChar(",")
    RBC.DebugLong(G)
    RBC.DebugChar(",")
    RBC.DebugLong(B)
    RBC.DebugCr
    
    'Send the colour that is being tracked to the PC
    RBC.SendTrackedColorToPc(R,G,B)

    CMUCam.SetTrackColor(R,G,B, 30)
    CMUCam.TrackColor
    'Send the tracked position of the colour to the PC
    RBC.SendTrackedDataToPc(CMUCam.GetTopLeftX, CMUCam.GetTopLeftY, CMUCam.GetBottomRightX, CMUCam.GetBottomRightY)