ES202_Final / Mbed 2 deprecated ES202_challenge

Initial attempt at the final chalenge

Dependencies:   ContinuousServo TCS3472_I2C Tach mbed

main.cpp@0:10faa982ae23, 2018-04-25 (annotated)

Committer:
nbchaskin
Date:
Wed Apr 25 14:19:25 2018 +0000
Revision:
0:10faa982ae23
Child:
1:d57be3c5dae9
Child:
2:141024530b2f
Rough initial attempt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nbchaskin 0:10faa982ae23 1 #include "mbed.h"
nbchaskin 0:10faa982ae23 2 #include "ContinuousServo.h"
nbchaskin 0:10faa982ae23 3 #include "Tach.h"
nbchaskin 0:10faa982ae23 4 #include "TCS3472_I2C.h"
nbchaskin 0:10faa982ae23 5 //driving
nbchaskin 0:10faa982ae23 6 Tach tLeft(p17,64);
nbchaskin 0:10faa982ae23 7 Tach tRight(p13,64);
nbchaskin 0:10faa982ae23 8
nbchaskin 0:10faa982ae23 9 ContinuousServo left(p23);
nbchaskin 0:10faa982ae23 10 ContinuousServo right(p26);
nbchaskin 0:10faa982ae23 11
nbchaskin 0:10faa982ae23 12 //color sensor
nbchaskin 0:10faa982ae23 13 PwmOut LB(p25); // PWM out signal to power LED on the sensor
nbchaskin 0:10faa982ae23 14 TCS3472_I2C rgb_sensor( p9, p10 ); // Establish RGB sensor object
nbchaskin 0:10faa982ae23 15 Serial pc(USBTX,USBRX); // Establish serial connection with computer
nbchaskin 0:10faa982ae23 16
nbchaskin 0:10faa982ae23 17 //Hall effect
nbchaskin 0:10faa982ae23 18 InterruptIn hall(p21);
nbchaskin 0:10faa982ae23 19 DigitalOut led4(LED4);
nbchaskin 0:10faa982ae23 20 DigitalOut toggle(p22);
nbchaskin 0:10faa982ae23 21 int counter = 0;
nbchaskin 0:10faa982ae23 22
nbchaskin 0:10faa982ae23 23 //need distance to stop
nbchaskin 0:10faa982ae23 24 float distance;
nbchaskin 0:10faa982ae23 25 distance = //inches;
nbchaskin 0:10faa982ae23 26 distance = //conversion to analog value;
nbchaskin 0:10faa982ae23 27
nbchaskin 0:10faa982ae23 28 int main() {
nbchaskin 0:10faa982ae23 29 hall.mode(PullUp);
nbchaskin 0:10faa982ae23 30 toggle = 1;
nbchaskin 0:10faa982ae23 31 led4 = 0;
nbchaskin 0:10faa982ae23 32
nbchaskin 0:10faa982ae23 33 rgb_sensor.enablePowerAndRGBC(); // Enable RGB sensor
nbchaskin 0:10faa982ae23 34 rgb_sensor.setIntegrationTime(100); // Set integration time of sensor
nbchaskin 0:10faa982ae23 35 int rgb_data[4]; // declare a 4 element array to store RGB sensor readings
nbchaskin 0:10faa982ae23 36 float PWMbrightness = 1.0; // float specifying brightness of LED (between 0.0 and 1.0)
nbchaskin 0:10faa982ae23 37
nbchaskin 0:10faa982ae23 38 while(1) {
nbchaskin 0:10faa982ae23 39 LB = PWMbrightness; // set brightness of sensor LED
nbchaskin 0:10faa982ae23 40 rgb_sensor.getAllColors( rgb_data ); // read the sensor to get red, green, and blue color data along with overall brightness
nbchaskin 0:10faa982ae23 41
nbchaskin 0:10faa982ae23 42 if(hall == 1){
nbchaskin 0:10faa982ae23 43 led4 = 1;
nbchaskin 0:10faa982ae23 44 wait(0.4);
nbchaskin 0:10faa982ae23 45 toggle = 0;
nbchaskin 0:10faa982ae23 46 wait(0.1);
nbchaskin 0:10faa982ae23 47 toggle = 1;
nbchaskin 0:10faa982ae23 48 led4 = 0;
nbchaskin 0:10faa982ae23 49 counter = counter +1;
nbchaskin 0:10faa982ae23 50 printf("Counter=%d\n",counter);
nbchaskin 0:10faa982ae23 51 }
nbchaskin 0:10faa982ae23 52 if (sonar > distance){
nbchaskin 0:10faa982ae23 53 float speed = 0.5;
nbchaskin 0:10faa982ae23 54 left.speed(speed);
nbchaskin 0:10faa982ae23 55 right.speed(-speed);
nbchaskin 0:10faa982ae23 56 if (rgb_data[] > ){//add value for too dark
nbchaskin 0:10faa982ae23 57 right.speed(-speed - 0.05);
nbchaskin 0:10faa982ae23 58 left.speed(speed - 0.05);
nbchaskin 0:10faa982ae23 59 }
nbchaskin 0:10faa982ae23 60 else if (rgb_data[] <){//add value for too light
nbchaskin 0:10faa982ae23 61 right.speed(-speed + 0.05);
nbchaskin 0:10faa982ae23 62 left.speed(speed + 0.05);
nbchaskin 0:10faa982ae23 63 }
nbchaskin 0:10faa982ae23 64 }
nbchaskin 0:10faa982ae23 65 else {
nbchaskin 0:10faa982ae23 66 break;
nbchaskin 0:10faa982ae23 67 }
nbchaskin 0:10faa982ae23 68 }
nbchaskin 0:10faa982ae23 69 }