Hall 0900

Dependencies:   mbed TCS3472_I2C Tach ContinuousServo

Files at this revision

API Documentation at this revision

Comitter:
m211482
Date:
Fri Apr 26 21:03:49 2019 +0000
Commit message:
ONLY WORKS ON HALL0900;

Changed in this revision

ContinuousServo.lib Show annotated file Show diff for this revision Revisions of this file
TCS3472_I2C.lib Show annotated file Show diff for this revision Revisions of this file
Tach.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
--- /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
--- /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
--- /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
--- /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
--- /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