Diff: main.cpp

Revision:

0:3b44eb67d53a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 28 01:17:38 2015 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "TCS3472_I2C.h"
+#include "Motor.h"
+
+PwmOut LB(p22); // PWM out signal to power LED on the sensor
+TCS3472_I2C rgb_sensor( p9, p10 ); // Establish RGB sensor object
+
+Motor m(p26, p30, p29);
+Motor m2(p25, p27, p28);
+AnalogIn ultraSonic(p17);
+int bob=0;
+
+int main()
+{
+    rgb_sensor.enablePowerAndRGBC(); // Enable RGB sensor
+    rgb_sensor.setIntegrationTime(100); // Set integration time of sensor
+
+    float measurements = ultraSonic.read();
+    float meas_dist = 531.3726*measurements + 0.8440;
+
+
+    int rgb_data[4]; // declare a 3 element array to store RGB sensor readings
+    float PWMbrightness = 1.0; // declare a float specifying brightness of LED (between 0.0 and 1.0)
+    LB = PWMbrightness; // set brightness of sensor LED
+    wait(1);
+    while(meas_dist > 20) {
+
+
+        rgb_sensor.getAllColors( rgb_data ); // read the sensor to get red, green, and blue color data along with overall brightness
+
+        // Print data to serial port
+        m2.speed(0);
+        m.speed(.6);
+        while ((rgb_data[2] >= 300)) {//Right If Green color is greater than 200 (the color is green)
+            m2.speed(.6);
+            m.speed(0);
+            rgb_sensor.getAllColors( rgb_data );
+
+            measurements = ultraSonic.read();
+            meas_dist = 531.3726*measurements + 0.8440;
+            if (meas_dist <10)
+            {
+                //int bob=1;
+                break;};
+        };
+        while ((rgb_data[1] <= 225)) {//if red color is less than 180 (the color is blue)
+            m2.speed(0);
+            m.speed(0.5);
+            rgb_sensor.getAllColors( rgb_data );
+
+            measurements = ultraSonic.read();
+            meas_dist = 531.3726*measurements + 0.8440;
+             if (meas_dist <10)
+            {
+                //int bob=1;
+                break;};
+        };
+        while ((rgb_data[3] <= 180)) {//Left If the blue is less than 95 (the color is red)
+            m2.speed(-.6);
+            m.speed(0);
+            rgb_sensor.getAllColors( rgb_data );
+
+            measurements = ultraSonic.read();
+            meas_dist = 531.3726*measurements + 0.8440;
+             if (meas_dist <10)
+            {
+                //int bob=1;
+                break;
+            };
+        };
+       
+    };
+    m.speed(0);
+    m2.speed(0);
+    wait(.75);
+        
+}
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