Our final project code
Dependencies: Motor Servo TCS3472_I2C mbed
main.cpp@0:0a03e4314cb7, 2015-04-27 (annotated)
- Committer:
- westobrien
- Date:
- Mon Apr 27 21:12:28 2015 +0000
- Revision:
- 0:0a03e4314cb7
Final Project code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
westobrien | 0:0a03e4314cb7 | 1 | #include "mbed.h" |
westobrien | 0:0a03e4314cb7 | 2 | #include "TCS3472_I2C.h" |
westobrien | 0:0a03e4314cb7 | 3 | #include "Servo.h" |
westobrien | 0:0a03e4314cb7 | 4 | #include "Motor.h" |
westobrien | 0:0a03e4314cb7 | 5 | |
westobrien | 0:0a03e4314cb7 | 6 | PwmOut LB(p22); // PWM out signal to power LED on the sensor |
westobrien | 0:0a03e4314cb7 | 7 | TCS3472_I2C rgb_sensor( p9, p10 ); // Establish RGB sensor object |
westobrien | 0:0a03e4314cb7 | 8 | Serial pc(USBTX,USBRX); // Establish serial connection with computer |
westobrien | 0:0a03e4314cb7 | 9 | Motor rmv(p26,p29,p30); //sets up DC motor |
westobrien | 0:0a03e4314cb7 | 10 | Servo myservo(p21); //sets up the servo motor |
westobrien | 0:0a03e4314cb7 | 11 | DigitalOut led1(LED1); |
westobrien | 0:0a03e4314cb7 | 12 | |
westobrien | 0:0a03e4314cb7 | 13 | //This is all for the photo diodes |
westobrien | 0:0a03e4314cb7 | 14 | AnalogIn pd1(p17); |
westobrien | 0:0a03e4314cb7 | 15 | AnalogIn pd2(p16); |
westobrien | 0:0a03e4314cb7 | 16 | AnalogIn pd3(p15); |
westobrien | 0:0a03e4314cb7 | 17 | |
westobrien | 0:0a03e4314cb7 | 18 | //This is all for the ultrasound sensor |
westobrien | 0:0a03e4314cb7 | 19 | AnalogIn ted(p18); //sets up the ultrasound sensor |
westobrien | 0:0a03e4314cb7 | 20 | float x; |
westobrien | 0:0a03e4314cb7 | 21 | Timer t; |
westobrien | 0:0a03e4314cb7 | 22 | float data = x; |
westobrien | 0:0a03e4314cb7 | 23 | float distance; |
westobrien | 0:0a03e4314cb7 | 24 | |
westobrien | 0:0a03e4314cb7 | 25 | |
westobrien | 0:0a03e4314cb7 | 26 | int main() |
westobrien | 0:0a03e4314cb7 | 27 | { |
westobrien | 0:0a03e4314cb7 | 28 | rgb_sensor.enablePowerAndRGBC(); // Enable RGB sensor |
westobrien | 0:0a03e4314cb7 | 29 | rgb_sensor.setIntegrationTime(100); // Set integration time of sensor |
westobrien | 0:0a03e4314cb7 | 30 | |
westobrien | 0:0a03e4314cb7 | 31 | pc.baud(9600); // Set Baud rate of serial connection |
westobrien | 0:0a03e4314cb7 | 32 | pc.format(8, SerialBase::None,1); |
westobrien | 0:0a03e4314cb7 | 33 | |
westobrien | 0:0a03e4314cb7 | 34 | int rgb_data[4]; // declare a 4 element array to store RGB sensor readings |
westobrien | 0:0a03e4314cb7 | 35 | float PWMbrightness = 1.0; // declare a float specifying brightness of LED (between 0.0 and 1.0) |
westobrien | 0:0a03e4314cb7 | 36 | int red; |
westobrien | 0:0a03e4314cb7 | 37 | int blue; |
westobrien | 0:0a03e4314cb7 | 38 | int green; |
westobrien | 0:0a03e4314cb7 | 39 | |
westobrien | 0:0a03e4314cb7 | 40 | //FOR INFRARED PHOTODIODES |
westobrien | 0:0a03e4314cb7 | 41 | float in1; |
westobrien | 0:0a03e4314cb7 | 42 | float in2; |
westobrien | 0:0a03e4314cb7 | 43 | float in3; |
westobrien | 0:0a03e4314cb7 | 44 | int turns=1; //main loop while vehicles is navigating through red/green snake |
westobrien | 0:0a03e4314cb7 | 45 | while(turns==1) { |
westobrien | 0:0a03e4314cb7 | 46 | |
westobrien | 0:0a03e4314cb7 | 47 | LB = PWMbrightness; // set brightness of sensor LED |
westobrien | 0:0a03e4314cb7 | 48 | rgb_sensor.getAllColors( rgb_data ); // read the sensor to get red, green, and blue color data along with overall brightness |
westobrien | 0:0a03e4314cb7 | 49 | |
westobrien | 0:0a03e4314cb7 | 50 | red=rgb_data[1]; //makes it easier to interpret the data |
westobrien | 0:0a03e4314cb7 | 51 | green=rgb_data[2]; |
westobrien | 0:0a03e4314cb7 | 52 | blue=rgb_data[3]; |
westobrien | 0:0a03e4314cb7 | 53 | |
westobrien | 0:0a03e4314cb7 | 54 | // myservo=.35; //this is straight for the servo |
westobrien | 0:0a03e4314cb7 | 55 | rmv.speed(.2);//makes our vehicle go forward |
westobrien | 0:0a03e4314cb7 | 56 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 57 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 58 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 59 | |
westobrien | 0:0a03e4314cb7 | 60 | |
westobrien | 0:0a03e4314cb7 | 61 | |
westobrien | 0:0a03e4314cb7 | 62 | // Print data to serial port CALIBRATION |
westobrien | 0:0a03e4314cb7 | 63 | //.printf( "unfiltered: %d, red: %d, green: %d, blue: %d \n\r", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]); |
westobrien | 0:0a03e4314cb7 | 64 | // pc.printf("%d,%d,%d,%d\n", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]); |
westobrien | 0:0a03e4314cb7 | 65 | //wait(0.1); |
westobrien | 0:0a03e4314cb7 | 66 | |
westobrien | 0:0a03e4314cb7 | 67 | //RGB SENSOR COLOR TURN |
westobrien | 0:0a03e4314cb7 | 68 | if((blue>red) && (blue>green)) { //if the blue is on |
westobrien | 0:0a03e4314cb7 | 69 | //pc.printf("Maintain current bearing\n\r"); |
westobrien | 0:0a03e4314cb7 | 70 | myservo=.35; //goes straight |
westobrien | 0:0a03e4314cb7 | 71 | wait(0.1); |
westobrien | 0:0a03e4314cb7 | 72 | |
westobrien | 0:0a03e4314cb7 | 73 | } |
westobrien | 0:0a03e4314cb7 | 74 | if((green>red) && (green>blue)) { //if the green is on |
westobrien | 0:0a03e4314cb7 | 75 | //pc.printf("Turn right\n\r"); |
westobrien | 0:0a03e4314cb7 | 76 | myservo=.01;//turns right (if motor is going backward) |
westobrien | 0:0a03e4314cb7 | 77 | rmv.speed(-.2);//makes our vehicle go backward |
westobrien | 0:0a03e4314cb7 | 78 | wait(.2); |
westobrien | 0:0a03e4314cb7 | 79 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 80 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 81 | |
westobrien | 0:0a03e4314cb7 | 82 | } |
westobrien | 0:0a03e4314cb7 | 83 | if((red>green) && (red>blue)) { //if the red is on |
westobrien | 0:0a03e4314cb7 | 84 | //pc.printf("Turn left\n\r"); |
westobrien | 0:0a03e4314cb7 | 85 | myservo=.99; //turns left (if motor is going backwar) |
westobrien | 0:0a03e4314cb7 | 86 | rmv.speed(-.2);//makes our vehicle go backward |
westobrien | 0:0a03e4314cb7 | 87 | wait(.2); |
westobrien | 0:0a03e4314cb7 | 88 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 89 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 90 | |
westobrien | 0:0a03e4314cb7 | 91 | } |
westobrien | 0:0a03e4314cb7 | 92 | |
westobrien | 0:0a03e4314cb7 | 93 | |
westobrien | 0:0a03e4314cb7 | 94 | //lower numbers go right, higher numbers go left. .35=straight. |
westobrien | 0:0a03e4314cb7 | 95 | |
westobrien | 0:0a03e4314cb7 | 96 | in1 = pd1.read(); |
westobrien | 0:0a03e4314cb7 | 97 | in2 = pd2.read(); |
westobrien | 0:0a03e4314cb7 | 98 | in3 = pd3.read(); |
westobrien | 0:0a03e4314cb7 | 99 | //pc.printf("sensor 1: %d,sensor 2: %d,sensor 3: %d\n\r",in1,in2,in3); |
westobrien | 0:0a03e4314cb7 | 100 | |
westobrien | 0:0a03e4314cb7 | 101 | if(in1 > .6|| in2 > .6|| in3 > .6){ |
westobrien | 0:0a03e4314cb7 | 102 | turns=0; //exits outs of main while loop, starts a new one in the turns=0 while loop (where IR sensor takes over) |
westobrien | 0:0a03e4314cb7 | 103 | led1=1; |
westobrien | 0:0a03e4314cb7 | 104 | } |
westobrien | 0:0a03e4314cb7 | 105 | |
westobrien | 0:0a03e4314cb7 | 106 | }//ends turns = 1 loop |
westobrien | 0:0a03e4314cb7 | 107 | |
westobrien | 0:0a03e4314cb7 | 108 | while(turns==0) { |
westobrien | 0:0a03e4314cb7 | 109 | |
westobrien | 0:0a03e4314cb7 | 110 | |
westobrien | 0:0a03e4314cb7 | 111 | |
westobrien | 0:0a03e4314cb7 | 112 | //color sensor stuff |
westobrien | 0:0a03e4314cb7 | 113 | LB = PWMbrightness; // set brightness of sensor LED |
westobrien | 0:0a03e4314cb7 | 114 | rgb_sensor.getAllColors( rgb_data ); // read the sensor to get red, green, and blue color data along with overall brightness |
westobrien | 0:0a03e4314cb7 | 115 | |
westobrien | 0:0a03e4314cb7 | 116 | red=rgb_data[1]; //makes it easier to interpret the data |
westobrien | 0:0a03e4314cb7 | 117 | green=rgb_data[2]; |
westobrien | 0:0a03e4314cb7 | 118 | blue=rgb_data[3]; |
westobrien | 0:0a03e4314cb7 | 119 | |
westobrien | 0:0a03e4314cb7 | 120 | |
westobrien | 0:0a03e4314cb7 | 121 | |
westobrien | 0:0a03e4314cb7 | 122 | //for infrared photodiodes |
westobrien | 0:0a03e4314cb7 | 123 | in1 = pd1.read(); |
westobrien | 0:0a03e4314cb7 | 124 | in2 = pd2.read(); |
westobrien | 0:0a03e4314cb7 | 125 | in3 = pd3.read(); |
westobrien | 0:0a03e4314cb7 | 126 | |
westobrien | 0:0a03e4314cb7 | 127 | //ULTRASOUND ACTION |
westobrien | 0:0a03e4314cb7 | 128 | x = ted.read(); |
westobrien | 0:0a03e4314cb7 | 129 | distance = 689.8006*pow(x,1) - 2.6437; //ultrasound distance calibration equation |
westobrien | 0:0a03e4314cb7 | 130 | // pc.printf("%f\n\r",distance); |
westobrien | 0:0a03e4314cb7 | 131 | |
westobrien | 0:0a03e4314cb7 | 132 | |
westobrien | 0:0a03e4314cb7 | 133 | //INFRARED TURN ACTION |
westobrien | 0:0a03e4314cb7 | 134 | if(in1 >in2 && in1 > in3) { //if the right infrared sensor is reading high |
westobrien | 0:0a03e4314cb7 | 135 | //pc.printf("Turn Right\n"); |
westobrien | 0:0a03e4314cb7 | 136 | myservo=.1; //turns right if motor is going backwards |
westobrien | 0:0a03e4314cb7 | 137 | rmv.speed(-.2); |
westobrien | 0:0a03e4314cb7 | 138 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 139 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 140 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 141 | } |
westobrien | 0:0a03e4314cb7 | 142 | |
westobrien | 0:0a03e4314cb7 | 143 | if(in2 >in1 && in2 > in3 && blue>red &&blue>green) { //if the middle infrared sensor is reading high |
westobrien | 0:0a03e4314cb7 | 144 | //pc.printf("Go Straight\n"); |
westobrien | 0:0a03e4314cb7 | 145 | myservo=.35; //goes straight |
westobrien | 0:0a03e4314cb7 | 146 | rmv.speed(.2); |
westobrien | 0:0a03e4314cb7 | 147 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 148 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 149 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 150 | |
westobrien | 0:0a03e4314cb7 | 151 | } |
westobrien | 0:0a03e4314cb7 | 152 | |
westobrien | 0:0a03e4314cb7 | 153 | if(in3 >in1 && in3 > in2) { //if the left PD is reading high |
westobrien | 0:0a03e4314cb7 | 154 | //pc.printf("Turn Left\n"); |
westobrien | 0:0a03e4314cb7 | 155 | myservo=.99; //turns left if the motor is going backwards |
westobrien | 0:0a03e4314cb7 | 156 | rmv.speed(-.2); |
westobrien | 0:0a03e4314cb7 | 157 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 158 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 159 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 160 | } |
westobrien | 0:0a03e4314cb7 | 161 | |
westobrien | 0:0a03e4314cb7 | 162 | if((green>red) && (green>blue)) { //if the green is on |
westobrien | 0:0a03e4314cb7 | 163 | //pc.printf("Turn right\n\r"); |
westobrien | 0:0a03e4314cb7 | 164 | myservo=.01;//turns right (if motor is going backward) |
westobrien | 0:0a03e4314cb7 | 165 | rmv.speed(-.2);//makes our vehicle go backward |
westobrien | 0:0a03e4314cb7 | 166 | wait(.2); |
westobrien | 0:0a03e4314cb7 | 167 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 168 | wait(.1); |
westobrien | 0:0a03e4314cb7 | 169 | |
westobrien | 0:0a03e4314cb7 | 170 | } |
westobrien | 0:0a03e4314cb7 | 171 | // if((red>green) && (red>blue)) { //if the red is on |
westobrien | 0:0a03e4314cb7 | 172 | // //pc.printf("Turn left\n\r"); |
westobrien | 0:0a03e4314cb7 | 173 | // myservo=.99; //turns left (if motor is going backwar) |
westobrien | 0:0a03e4314cb7 | 174 | // rmv.speed(-.2);//makes our vehicle go backward |
westobrien | 0:0a03e4314cb7 | 175 | // wait(.2); |
westobrien | 0:0a03e4314cb7 | 176 | // rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 177 | // wait(.1); |
westobrien | 0:0a03e4314cb7 | 178 | |
westobrien | 0:0a03e4314cb7 | 179 | // } |
westobrien | 0:0a03e4314cb7 | 180 | |
westobrien | 0:0a03e4314cb7 | 181 | //ultrasound stop action |
westobrien | 0:0a03e4314cb7 | 182 | if(distance <11) { |
westobrien | 0:0a03e4314cb7 | 183 | rmv.speed(0); |
westobrien | 0:0a03e4314cb7 | 184 | wait(10); |
westobrien | 0:0a03e4314cb7 | 185 | } |
westobrien | 0:0a03e4314cb7 | 186 | } //end turn = 0 loop |
westobrien | 0:0a03e4314cb7 | 187 | }// end main |
westobrien | 0:0a03e4314cb7 | 188 | |
westobrien | 0:0a03e4314cb7 | 189 |