Big Dog / Mbed 2 deprecated MECH_BigDog_Track

Hall 0900

Dependencies:   mbed TCS3472_I2C Tach ContinuousServo

main.cpp@0:3c7038dd80b3, 2019-04-26 (annotated)

Committer:
m211482
Date:
Fri Apr 26 21:03:49 2019 +0000
Revision:
0:3c7038dd80b3
ONLY WORKS ON HALL0900;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m211482 0:3c7038dd80b3 1 #include "mbed.h"
m211482 0:3c7038dd80b3 2 #include "TCS3472_I2C.h"
m211482 0:3c7038dd80b3 3 #include "ContinuousServo.h"
m211482 0:3c7038dd80b3 4 #include "Tach.h"
m211482 0:3c7038dd80b3 5
m211482 0:3c7038dd80b3 6
m211482 0:3c7038dd80b3 7 Serial pc(USBTX,USBRX);
m211482 0:3c7038dd80b3 8 PwmOut LB(p22);
m211482 0:3c7038dd80b3 9 TCS3472_I2C rgb_sensor(p9, p10);
m211482 0:3c7038dd80b3 10 ContinuousServo left(p23);
m211482 0:3c7038dd80b3 11 ContinuousServo right(p26);
m211482 0:3c7038dd80b3 12 float turn, pt;
m211482 0:3c7038dd80b3 13 float r,l;
m211482 0:3c7038dd80b3 14 //ecnoders
m211482 0:3c7038dd80b3 15 Tach tLeft(p17,64);
m211482 0:3c7038dd80b3 16 Tach tRight(p13,64);
m211482 0:3c7038dd80b3 17 int main()
m211482 0:3c7038dd80b3 18 {
m211482 0:3c7038dd80b3 19 rgb_sensor.enablePowerAndRGBC();
m211482 0:3c7038dd80b3 20 rgb_sensor.setIntegrationTime(100);
m211482 0:3c7038dd80b3 21
m211482 0:3c7038dd80b3 22 pc.baud(9600);
m211482 0:3c7038dd80b3 23 int rgb_data[4];
m211482 0:3c7038dd80b3 24 float PWMbrightness=1.0;
m211482 0:3c7038dd80b3 25 right.speed(-0.1);
m211482 0:3c7038dd80b3 26 left.speed(0.1);
m211482 0:3c7038dd80b3 27 while (1) {
m211482 0:3c7038dd80b3 28 LB=PWMbrightness;
m211482 0:3c7038dd80b3 29 rgb_sensor.getAllColors(rgb_data);
m211482 0:3c7038dd80b3 30 pc.printf("unfiltered: %d, red: %d, green: %d, blue: %d \n\r", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
m211482 0:3c7038dd80b3 31 turn=(750-rgb_data[0]);
m211482 0:3c7038dd80b3 32 pt=0.00038*(turn);
m211482 0:3c7038dd80b3 33 if (pt>0.25) {
m211482 0:3c7038dd80b3 34 pt=0.25;
m211482 0:3c7038dd80b3 35 }
m211482 0:3c7038dd80b3 36 if (pt<-0.25) {
m211482 0:3c7038dd80b3 37 pt=-0.25;
m211482 0:3c7038dd80b3 38 }
m211482 0:3c7038dd80b3 39 r=-0.1-(pt/2);
m211482 0:3c7038dd80b3 40 l=0.1-(pt/2);
m211482 0:3c7038dd80b3 41 right.speed(r);
m211482 0:3c7038dd80b3 42 left.speed(l);
m211482 0:3c7038dd80b3 43 pc.printf("right %f, left %f\n\r",r,l);
m211482 0:3c7038dd80b3 44 }
m211482 0:3c7038dd80b3 45 }
m211482 0:3c7038dd80b3 46 /* if ((rgb_data[0]<=800)&&(rgb_data[0]>=740)) {
m211482 0:3c7038dd80b3 47 pc.printf("Go straight, %d \n\r",rgb_data[0]);
m211482 0:3c7038dd80b3 48 } else if (rgb_data[0]<740) {
m211482 0:3c7038dd80b3 49 pc.printf("Turn left, %d\n\r",rgb_data[0]);
m211482 0:3c7038dd80b3 50 } else if (rgb_data[0]>800) {
m211482 0:3c7038dd80b3 51 pc.printf("Turn right, %d \n\r",rgb_data[0]);
m211482 0:3c7038dd80b3 52 }
m211482 0:3c7038dd80b3 53 wait (0.5);
m211482 0:3c7038dd80b3 54 }
m211482 0:3c7038dd80b3 55 }*/