pybricks.pupdevices.ColorSensor: Split corrections to sensor.

This didn't work great for both sensor types, so move them to their own variants. This still needs to be revisited properly, but this is less bad than before. Also make the h adjustment monotonic so it doesn't skip ahead.

Author: laurensvalk

pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c

@@ -90,6 +90,10 @@ static void get_hsv_data(pupdevices_ColorDistanceSensor_obj_t *self, pbio_color_
     rgb.g = 1187 * raw[1] / 2048;
     rgb.b = 1187 * raw[2] / 2048;
     pb_color_map_rgb_to_hsv(&rgb, hsv);
+
+    // Approximately double low values to get similar results
+    // as with other sensors.
+    hsv->v = hsv->v * (200 - hsv->v) / 100;
 }
 
 // pybricks.pupdevices.ColorDistanceSensor.color

pybricks/pupdevices/pb_type_pupdevices_colorsensor.c

@@ -71,6 +71,14 @@ static void get_hsv_reflected(mp_obj_t self_in, pbio_color_hsv_t *hsv) {
         .b = data[2] == 1024 ? 255 : data[2] >> 2,
     };
     pb_color_map_rgb_to_hsv(&rgb, hsv);
+
+    // Approximately double saturation for low values to get similar results
+    // as other sensors.
+    hsv->s = hsv->s * (200 - hsv->s) / 100;
+
+    // Approximately +50% low values to get similar results
+    // as with other sensors.
+    hsv->v = hsv->v * (150 - hsv->v / 2) / 100;
 }
 
 // Helper for getting HSV with the light off, scale saturation and value to

pybricks/util_pb/pb_color_map.c

@@ -33,15 +33,13 @@ void pb_color_map_rgb_to_hsv(const pbio_color_rgb_t *rgb, pbio_color_hsv_t *hsv)
     pbio_color_rgb_to_hsv(rgb, hsv);
 
     // Slight shift for lower hues to make yellow somewhat more accurate
-    if (hsv->h < 40) {
-        uint8_t offset = ((hsv->h - 20) << 8) / 20;
-        int32_t scale = 200 - ((100 * (offset * offset)) >> 16);
-        hsv->h = hsv->h * scale / 100;
+    if (hsv->h >= 350) {
+        hsv->h = (350 + 2 * (hsv->h - 350)) % 360;
+    } else if (hsv->h < 40) {
+        hsv->h += 10;
+    } else if (hsv->h < 60) {
+        hsv->h = 50 + (hsv->h - 40) / 2;
     }
-
-    // Value and saturation correction
-    hsv->s = hsv->s * (200 - hsv->s) / 100;
-    hsv->v = hsv->v * (200 - hsv->v) / 100;
 }
 
 static const mp_rom_obj_tuple_t pb_color_map_default = {