Final Project / Mbed 2 deprecated FINAL_PROJECT

HI

Dependencies:   Motor TCS3472_I2C mbed

main.cpp@0:1cbed7d36912, 2015-04-24 (annotated)

Committer:
taylormooers
Date:
Fri Apr 24 00:53:50 2015 +0000
Revision:
0:1cbed7d36912
Child:
1:9eb8d4e6a719
GHFGH

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taylormooers 0:1cbed7d36912 1 #include "mbed.h" //includes this library for all mbed functions
taylormooers 0:1cbed7d36912 2 #include "TCS3472_I2C.h" //includes the library for the RGB sensor
taylormooers 0:1cbed7d36912 3 #include "Motor.h"
taylormooers 0:1cbed7d36912 4 Motor R(p24, p25, p26);
taylormooers 0:1cbed7d36912 5 Motor L(p21, p22, p23);
taylormooers 0:1cbed7d36912 6
taylormooers 0:1cbed7d36912 7 PwmOut RGBsensorLED(p22); //established pin to power the LED on the sensor
taylormooers 0:1cbed7d36912 8 TCS3472_I2C RGBsensor(p9, p10); //establishes pins for the RGB sensor.
taylormooers 0:1cbed7d36912 9
taylormooers 0:1cbed7d36912 10
taylormooers 0:1cbed7d36912 11 Serial pc(USBTX, USBRX); //establishes a serial port in order to communicate with TeraTerm and LATLAB
taylormooers 0:1cbed7d36912 12
taylormooers 0:1cbed7d36912 13 int main() //starts the program
taylormooers 0:1cbed7d36912 14 {
taylormooers 0:1cbed7d36912 15 int RGB_data[4]; //declares an array to store the data read from the RGB sensor
taylormooers 0:1cbed7d36912 16 float PWMbrightness = 1.0; //declares float for LED brightness
taylormooers 0:1cbed7d36912 17
taylormooers 0:1cbed7d36912 18 RGBsensor.enablePowerAndRGBC(); //enables RGB sensor
taylormooers 0:1cbed7d36912 19 RGBsensor.setIntegrationTime(100); //sets the intergration time of the RGB sensor
taylormooers 0:1cbed7d36912 20 RGBsensorLED = PWMbrightness; //set brightness of sensor LED
taylormooers 0:1cbed7d36912 21 pc.baud(921600); //sets the baud rate of the serial connection
taylormooers 0:1cbed7d36912 22
taylormooers 0:1cbed7d36912 23 while (1) { //loops the program until is broken
taylormooers 0:1cbed7d36912 24
taylormooers 0:1cbed7d36912 25 int colorcount[3] = {0,0,0}; //establishes an array for the possible regions the car is in
taylormooers 0:1cbed7d36912 26 int scan = 0; //variable for for loop
taylormooers 0:1cbed7d36912 27
taylormooers 0:1cbed7d36912 28 for (scan=0; scan<10; scan+=1) {
taylormooers 0:1cbed7d36912 29
taylormooers 0:1cbed7d36912 30 RGBsensor.getAllColors(RGB_data); //read data from sensor for red, green, and blue along with magnitude
taylormooers 0:1cbed7d36912 31
taylormooers 0:1cbed7d36912 32 int light = RGB_data[0]; //sets a variable for the light data so I don't have to type that every time
taylormooers 0:1cbed7d36912 33 int red = RGB_data[1]; //sets a variable for the red data so I don't have to type that every time
taylormooers 0:1cbed7d36912 34 int green = RGB_data[2]; //sets a variable for the blue data so I don't have to type that every time
taylormooers 0:1cbed7d36912 35 int blue = RGB_data[3]; //sets a variable for the green data so I don't have to type that every time
taylormooers 0:1cbed7d36912 36
taylormooers 0:1cbed7d36912 37 if ( (abs((1.6822*red + 15.609)-light) < 10) && (abs((4.2525*green - 37.993)-light) < 10) && (abs((6.5565*blue - 44.793 )-light) < 10) ) {
taylormooers 0:1cbed7d36912 38 colorcount[0] += 1; //car is in red
taylormooers 0:1cbed7d36912 39 L.speed(0.0);
taylormooers 0:1cbed7d36912 40 R.speed(0.2);
taylormooers 0:1cbed7d36912 41 }
taylormooers 0:1cbed7d36912 42
taylormooers 0:1cbed7d36912 43 if ( (abs((3.7757*red - 134.86)-light) < 10) && (abs((3.4282*green - 8.791 )-light) < 10) && (abs((2.5685*blue + 63.205)-light) < 10) ) {
taylormooers 0:1cbed7d36912 44 colorcount[1] += 1; //car is in blue
taylormooers 0:1cbed7d36912 45 R.speed(0.5);
taylormooers 0:1cbed7d36912 46 L.speed(0.5);
taylormooers 0:1cbed7d36912 47 }
taylormooers 0:1cbed7d36912 48
taylormooers 0:1cbed7d36912 49 if ( (abs((3.8225*red - 138.09)-light) < 10) && (abs((2.1032*green + 39.654)-light) < 10) && (abs((5.3619*blue - 2.7884)-light) < 10) ) {
taylormooers 0:1cbed7d36912 50 colorcount[2] += 1; //car is in green
taylormooers 0:1cbed7d36912 51 L.speed(0.2);
taylormooers 0:1cbed7d36912 52 R.speed(0.0);
taylormooers 0:1cbed7d36912 53 }
taylormooers 0:1cbed7d36912 54 }
taylormooers 0:1cbed7d36912 55 if (colorcount[0] >= 7) { //data reads in the red
taylormooers 0:1cbed7d36912 56 pc.printf("Making a right turn. \n"); //print to tera term
taylormooers 0:1cbed7d36912 57
taylormooers 0:1cbed7d36912 58 }
taylormooers 0:1cbed7d36912 59 if (colorcount[1] >= 7) { //data reads in the blue
taylormooers 0:1cbed7d36912 60 pc.printf("Driving straight. \n"); //print to tera term
taylormooers 0:1cbed7d36912 61
taylormooers 0:1cbed7d36912 62 }
taylormooers 0:1cbed7d36912 63 if (colorcount[2] >= 7) { //data reads in the green
taylormooers 0:1cbed7d36912 64 pc.printf("Making a left turn. \n"); //print to tera term
taylormooers 0:1cbed7d36912 65
taylormooers 0:1cbed7d36912 66 }
taylormooers 0:1cbed7d36912 67
taylormooers 0:1cbed7d36912 68
taylormooers 0:1cbed7d36912 69 }
taylormooers 0:1cbed7d36912 70
taylormooers 0:1cbed7d36912 71 }