Address PR comments - move calibration_state to color module

include/color.h

@@ -23,15 +23,14 @@ typedef enum
     CALIBRATE_READY,
 } CalibrationState;
 
-extern CalibrationState calibration_state;
-
 void setupColorSensor();
 
 void printRGB(const Rgb &value);
 
-void getColorValues(Rgb &left_value, Rgb &right_value);
+void readColorValues(Rgb &left_value, Rgb &right_value);
 
 float computeHue(const Rgb &rgb);
 
+CalibrationState getCalibrationState();
 void calibrateBlack();
 void calibrateWhite();

src/color.cpp

@@ -3,13 +3,13 @@
 #include "Adafruit_TCS34725.h"
 
 // Initiate color sensor instances
-static Adafruit_TCS34725 color_sensor_left = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_24MS, TCS34725_GAIN_4X);
-static Adafruit_TCS34725 color_sensor_right = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_24MS, TCS34725_GAIN_4X);
+static Adafruit_TCS34725 color_sensor_left = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_24MS, TCS34725_GAIN_60X);
+static Adafruit_TCS34725 color_sensor_right = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_24MS, TCS34725_GAIN_60X);
 
 static TwoWire Wire2 = TwoWire(PC9, PA8); // I2C channel 3 for right sensor
 
 // Change this to CALIBRATE_READY if no calibration is required
-CalibrationState calibration_state = CALIBRATE_BLACK;
+static CalibrationState calibration_state = CALIBRATE_BLACK;
 
 static ColorSensorCal color_cal_left;
 static ColorSensorCal color_cal_right;
@@ -24,12 +24,12 @@ void printRGB(const Rgb &value)
     Serial.print(int(value.b));
 }
 
-void getColorValues(Rgb &left_value, Rgb &right_value)
+void readColorValues(Rgb &left_value, Rgb &right_value)
 {
     // Turn on LEDs
     color_sensor_left.setInterrupt(false);
     color_sensor_right.setInterrupt(false);
-    // Delay 50ms to read
+    // Delay 24ms to read
     delay(24);
     color_sensor_left.getRGB(&left_value.r, &left_value.g, &left_value.b);
     color_sensor_right.getRGB(&right_value.r, &right_value.g, &right_value.b);
@@ -108,12 +108,24 @@ void setupColorSensor()
     }
 };
 
+CalibrationState getCalibrationState() {
+    return calibration_state;
+}
+
 void calibrateBlack()
 {
-    getColorValues(color_cal_left.min, color_cal_right.max);
+    // Calibrate black
+    Serial.print("Calibrating black");
+    readColorValues(color_cal_left.min, color_cal_right.max);
+    // Transition to calibrate white
+    calibration_state = CALIBRATE_WHITE;
 }
 
 void calibrateWhite()
 {
-    getColorValues(color_cal_left.max, color_cal_right.max);
+    // Calibrate white
+    Serial.print("Calibrating white");
+    readColorValues(color_cal_left.max, color_cal_right.max);
+    // Transition to ready state
+    calibration_state = CALIBRATE_READY;
 }
\ No newline at end of file

src/main.cpp

@@ -29,7 +29,7 @@ void loop()
     // Color sensor code
     Rgb left_color = {};
     Rgb right_color = {};
-    getColorValues(left_color, right_color);
+    readColorValues(left_color, right_color);
 
     float left_hue = computeHue(left_color);
     float right_hue = computeHue(right_color);
@@ -82,27 +82,16 @@ void checkButtonPress()
     {
         prev_button_press_time = millis();
         Serial.print("Pressed: ");
-        if (calibration_state == CALIBRATE_READY)
-        {
-            enable_line_follow = !enable_line_follow;
-        }
-
-        // calibration code
-        if (calibration_state == CALIBRATE_BLACK)
-        {
-            // Calibrate black
-            Serial.print("Calibrating black");
-            calibrateBlack();
-            // Transition to calibrate white
-            calibration_state = CALIBRATE_WHITE;
-        }
-        else if (calibration_state == CALIBRATE_WHITE)
-        {
-            // Calibrate white
-            Serial.print("Calibrating white");
-            calibrateWhite();
-            // Transition to ready state
-            calibration_state = CALIBRATE_READY;
+        switch (getCalibrationState()) {
+            case CALIBRATE_READY:
+                enable_line_follow = !enable_line_follow;
+                break;
+            case CALIBRATE_BLACK:
+                calibrateBlack();
+                break;
+            case CALIBRATE_WHITE:
+                calibrateWhite();
+                break;
         }
     }
     prev_button_state = current_button_state;