Big Dog
Hall 0900
Dependencies: mbed TCS3472_I2C Tach ContinuousServo
Revision 0:3c7038dd80b3, committed 2019-04-26
- Comitter:
- m211482
- Date:
- Fri Apr 26 21:03:49 2019 +0000
- Commit message:
- ONLY WORKS ON HALL0900;
Changed in this revision
diff -r 000000000000 -r 3c7038dd80b3 ContinuousServo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ContinuousServo.lib Fri Apr 26 21:03:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdonnal/code/ContinuousServo/#d6371727ce0c
diff -r 000000000000 -r 3c7038dd80b3 TCS3472_I2C.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TCS3472_I2C.lib Fri Apr 26 21:03:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/karlmaxwell67/code/TCS3472_I2C/#6d5bb4ad7d6e
diff -r 000000000000 -r 3c7038dd80b3 Tach.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Tach.lib Fri Apr 26 21:03:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdonnal/code/Tach/#c165325c9e3f
diff -r 000000000000 -r 3c7038dd80b3 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Apr 26 21:03:49 2019 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "TCS3472_I2C.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+
+
+Serial pc(USBTX,USBRX);
+PwmOut LB(p22);
+TCS3472_I2C rgb_sensor(p9, p10);
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+float turn, pt;
+float r,l;
+//ecnoders
+Tach tLeft(p17,64);
+Tach tRight(p13,64);
+int main()
+{
+ rgb_sensor.enablePowerAndRGBC();
+ rgb_sensor.setIntegrationTime(100);
+
+ pc.baud(9600);
+ int rgb_data[4];
+ float PWMbrightness=1.0;
+ right.speed(-0.1);
+ left.speed(0.1);
+ while (1) {
+ LB=PWMbrightness;
+ rgb_sensor.getAllColors(rgb_data);
+ pc.printf("unfiltered: %d, red: %d, green: %d, blue: %d \n\r", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
+ turn=(750-rgb_data[0]);
+ pt=0.00038*(turn);
+ if (pt>0.25) {
+ pt=0.25;
+ }
+ if (pt<-0.25) {
+ pt=-0.25;
+ }
+ r=-0.1-(pt/2);
+ l=0.1-(pt/2);
+ right.speed(r);
+ left.speed(l);
+ pc.printf("right %f, left %f\n\r",r,l);
+ }
+}
+/* if ((rgb_data[0]<=800)&&(rgb_data[0]>=740)) {
+ pc.printf("Go straight, %d \n\r",rgb_data[0]);
+ } else if (rgb_data[0]<740) {
+ pc.printf("Turn left, %d\n\r",rgb_data[0]);
+ } else if (rgb_data[0]>800) {
+ pc.printf("Turn right, %d \n\r",rgb_data[0]);
+ }
+ wait (0.5);
+}
+}*/
\ No newline at end of file
diff -r 000000000000 -r 3c7038dd80b3 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 26 21:03:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file