Initial attempt at the final chalenge
Dependencies: ContinuousServo TCS3472_I2C Tach mbed
Diff: main.cpp
- Revision:
- 1:d57be3c5dae9
- Parent:
- 0:10faa982ae23
diff -r 10faa982ae23 -r d57be3c5dae9 main.cpp --- a/main.cpp Wed Apr 25 14:19:25 2018 +0000 +++ b/main.cpp Thu Apr 26 14:26:02 2018 +0000 @@ -9,7 +9,7 @@ ContinuousServo left(p23); ContinuousServo right(p26); -//color sensor +//Color sensor PwmOut LB(p25); // PWM out signal to power LED on the sensor TCS3472_I2C rgb_sensor( p9, p10 ); // Establish RGB sensor object Serial pc(USBTX,USBRX); // Establish serial connection with computer @@ -26,10 +26,12 @@ distance = //conversion to analog value; int main() { + //Hall Effect hall.mode(PullUp); toggle = 1; led4 = 0; + //Color sensor rgb_sensor.enablePowerAndRGBC(); // Enable RGB sensor rgb_sensor.setIntegrationTime(100); // Set integration time of sensor int rgb_data[4]; // declare a 4 element array to store RGB sensor readings @@ -48,7 +50,7 @@ led4 = 0; counter = counter +1; printf("Counter=%d\n",counter); - } + }//if hall if (sonar > distance){ float speed = 0.5; left.speed(speed); @@ -56,14 +58,16 @@ if (rgb_data[] > ){//add value for too dark right.speed(-speed - 0.05); left.speed(speed - 0.05); - } + }//if dark else if (rgb_data[] <){//add value for too light right.speed(-speed + 0.05); left.speed(speed + 0.05); - } - } + }//elseif light + pc.printf( "unfiltered: %d, red: %d, green: %d, blue: %d \n", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]); + wait(0.05); + }//if sonar else { break; - } - } -} + }//break + }//while(1) +}//int(main)