An ultra-low resolution full color I²C camera to provide machine vision for microcontroller-based robotics. The project was inspired by the vision of biological mollusks, which is also low resolution and (in some species) color responsive.

While optical flow sensors and mouse hacks have better resolution, they are unable to differentiate color in natural lighting.

Useful for detecting colored edges, features, objects and scenes when little processing power is needed or available.

To complete, glue (do not screw) a lens mount centered on the large white square. The projected image from the chosen lens must cover all 7 sensors (projection area approximately equivalent to 1/1.63" image sensor).

Features:

• 7 I²C RGB color sensors
• PCB mounted lens
• Pull-up resistors on all I²C lines
• 1-to-8 I²C multiplexer and level shifter
• Compatible with 5 volt Arduino or any 5 volt device with I²C capability.

Access pixels with Vishay VEML6040 RGBW color sensor library

Sensor select helper code:

#define TCAADDR 0x70
 
void tcaselect(uint8_t i) {
  if (i > 7) return;
 
  Wire.beginTransmission(TCAADDR);
  Wire.write(1 << i);
  Wire.endTransmission();  
}