칼라센서(=색깔센서)

int s0=3,s1=4,s2=5,s3=6;

int out=2;

int flag=0;

byte counter=0;

byte countR=0,countG=0,countB=0;

void setup()

{

Serial.begin(115200);

pinMode(s0,OUTPUT);

pinMode(s1,OUTPUT); 

pinMode(s2,OUTPUT);

pinMode(s3,OUTPUT); 

}

void TCS()

{

flag=0;  

digitalWrite(s1,HIGH);

digitalWrite(s0,HIGH);

digitalWrite(s2,LOW);

digitalWrite(s3,LOW);

attachInterrupt(0, ISR_INTO, CHANGE);

timer0_init();

}

void ISR_INTO()

{

counter++;

}

void timer0_init(void)

{

TCCR2A=0x00;

TCCR2B=0x07;   //the clock frequency source 1024 points

TCNT2= 100;    //10 ms overflow again

TIMSK2 = 0x01; //allow interrupt

}

int i=0;

ISR(TIMER2_OVF_vect)//the timer 2, 10ms interrupt overflow again. Internal overflow interrupt executive function

{

TCNT2=100;

flag++;

if(flag==1)

{

countR=counter;

Serial.print("red=");

Serial.println(countR,DEC);

digitalWrite(s2,HIGH);

digitalWrite(s3,HIGH);

}

else if(flag==2)

{

countG=counter;

Serial.print("green=");

Serial.println(countG,DEC);

digitalWrite(s2,LOW);

digitalWrite(s3,HIGH);

}

else if(flag==3)

{

countB=counter;

Serial.print("blue=");

Serial.println(countB,DEC);

Serial.println("\n"); 

digitalWrite(s2,LOW);

digitalWrite(s3,LOW);

}

else if(flag==4)

{

flag=0;

}

counter=0;

}

void loop()

{

TCS();

while(1);

}