Liceo Statale Gandhi
Bologna
Dependencies: TCS3200 X_NUCLEO_IHM12A1 mbed-rtos mbed
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SchedamotoriIHM12A1_copy
by 
Duckiebot
Revision 7:e14976007f66, committed 2018-04-26
- Comitter:
- gandhi1
- Date:
- Thu Apr 26 11:00:39 2018 +0000
- Parent:
- 6:b5d006c1eb59
- Commit message:
- Bologna
Changed in this revision
diff -r b5d006c1eb59 -r e14976007f66 TCS3200.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TCS3200.lib Thu Apr 26 11:00:39 2018 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/grantphillips/code/TCS3200/#b98e768bc655
diff -r b5d006c1eb59 -r e14976007f66 X-NUCLEO-IHM12A1.lib --- a/X-NUCLEO-IHM12A1.lib Fri Feb 24 16:13:24 2017 +0000 +++ b/X-NUCLEO-IHM12A1.lib Thu Apr 26 11:00:39 2018 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM12A1/#232e0c730f59 +https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM12A1/#123d44b9fb9d
diff -r b5d006c1eb59 -r e14976007f66 main.cpp
--- a/main.cpp Fri Feb 24 16:13:24 2017 +0000
+++ b/main.cpp Thu Apr 26 11:00:39 2018 +0000
@@ -1,73 +1,145 @@
#include "mbed.h"
-#include "stspin240_250_class.h"
-Serial pc(USBTX, USBRX);
- Stspin240_250_Init_t initDeviceParameters =
+#include "rtos.h"
+#include "TCS3200.h"
+#include "STSpin240_250.h"
+
+STSpin240_250_init_t init =
{
- 20000,
- 20000,
- 20000,
- 50,
- TRUE
+ 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */
+ 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */
+ 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */
+ 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */
+ TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */
};
-STSPIN240_250 *motor;
+
+STSpin240_250 *motor;
+
+/*FUNZIONI:.*/
+void config_motor();
+void read_color();
+void controllo_motori();
+void check_color();
+
+
+TCS3200 color(D3,D8,D12,D13,D14);
+DigitalIn ir1 (D10); //destra
+DigitalIn ir2 (D11); //sinistra
+
+/*Variabili per leggere i colori.*/
+
+long red;
+long green;
+long blue;
+
+/*Variabili per abilitare i motori sono dopo una prima lettura del sensore di colore,poichè inizialmente da sempre nessun colore come comando*/
+int start=0;
+
+
+/*Definizione thread per lettura colori*/
+Thread thread;
+
+
+/* Main ----------------------------------------------------------------------*/
+Serial pc(USBTX,USBRX);
+
+void read_color()
+{
+
+ while(true) {
+ check_color();
+ start=1;
+
+ Thread::wait(100);
+ }
+}
int main()
{
- uint8_t demoStep = 0;
- #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
- motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2);
- #elif (defined TARGET_NUCLEO_L152RE)
- motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3);
- #else
- motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0);
- #endif
- if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
- motor->SetDualFullBridgeConfig(1);
- motor->SetRefPwmFreq(0, 15000);
- motor->SetRefPwmDc(0, 60);
- motor->SetBridgeInputPwmFreq(0,10000);
- motor->SetBridgeInputPwmFreq(1,10000);
-
- while (1)
- {
- switch (demoStep)
- {
- case 0:
- /* Va avanti */
- motor->SetSpeed(0,50);
- motor->SetSpeed(1,50);
- motor->Run(0, BDCMotor::FWD);
- motor->Run(1, BDCMotor::FWD);
- break;
- case 1:
- /* Va a destra */
- motor->SetSpeed(0,47);
- motor->SetSpeed(1,23);
- motor->Run(0, BDCMotor::FWD);
- motor->Run(1, BDCMotor::FWD);
+
+ config_motor();
+
+ //Set the scaling factor
+ color.SetMode(TCS3200::SCALE_100);
+
- break;
- case 2:
- /* Va indietro */
- motor->SetSpeed(0,50);
- motor->SetSpeed(1,50);
- motor->Run(0, BDCMotor::BWD);
- motor->Run(1, BDCMotor::BWD);
- break;
- case 3:
- /* Va a sinistra */
- motor->SetSpeed(0,25);
- motor->SetSpeed(1,30);
- motor->Run(0, BDCMotor::FWD);
- motor->Run(1, BDCMotor::FWD);
- break;
- }
- wait_ms(4500);
- demoStep++;
- if (demoStep > 3)
- {
- demoStep = 0;
+ thread.start(read_color);
+
+ while(true){
+
+ if(start==1) {
+
+ controllo_motori(); //se il sensore ha effettuato una prima lettura allora avvio il controllo motori
+
+ }
+
+
+ else if(start==0) {
+ motor->set_speed(0,0);
+ motor->set_speed(1,0);
+ motor->run(1, BDCMotor::BWD);
+ motor->run(0, BDCMotor::BWD);
+ }
}
- }
}
+//Elenco Funzioni
+void config_motor(){
+ #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
+ motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A2);
+ #elif (defined TARGET_NUCLEO_L152RE)
+ motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A3);
+ #elif (defined TARGET_NUCLEO_F429ZI)
+ motor = new STSpin240_250(D2, D9, D6, D7, D5, D3, A0);
+ #else
+ motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A0);
+ #endif
+ if (motor->init(&init) != COMPONENT_OK) exit(EXIT_FAILURE);
+
+ motor->set_dual_full_bridge_config(1);
+ motor->set_ref_pwm_freq(0, 15000);
+ motor->set_ref_pwm_dc(0, 60);
+ motor->set_bridge_input_pwm_freq(0,10000);
+ motor->set_bridge_input_pwm_freq(1,10000);
+}
+
+void check_color(){
+ red = color.ReadRed();
+ blue=color.ReadBlue();
+ green = color.ReadGreen();
+}
+
+void controllo_motori(){
+
+ if(red<green && red<blue) {
+
+ motor->set_speed(0,0);
+ motor->set_speed(1,0);
+ motor->run(1, BDCMotor::FWD);
+ motor->run(0, BDCMotor::FWD);
+
+ }
+
+ else {
+ motor->set_speed(0,40);
+ motor->set_speed(1,40);
+ motor->run(1, BDCMotor::FWD);
+ motor->run(0, BDCMotor::FWD);
+}
+
+
+ if (ir1 && !ir2) {
+ motor->set_speed(0,40);
+ motor->set_speed(1,100);
+ motor->run(0, BDCMotor::BWD);
+ motor->run(1, BDCMotor::FWD);
+ }
+
+ if (!ir1 && ir2) {
+ motor->set_speed(0,100);
+ motor->set_speed(1,40);
+ motor->run(0, BDCMotor::FWD);
+ motor->run(1, BDCMotor::BWD);
+ }
+}
+
+
\ No newline at end of file
diff -r b5d006c1eb59 -r e14976007f66 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Thu Apr 26 11:00:39 2018 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed-rtos/#5713cbbdb706
diff -r b5d006c1eb59 -r e14976007f66 mbed.bld --- a/mbed.bld Fri Feb 24 16:13:24 2017 +0000 +++ b/mbed.bld Thu Apr 26 11:00:39 2018 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/ef9c61f8c49f \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file