File content as of revision 7:e14976007f66:

#include "mbed.h"
#include "rtos.h"
#include "TCS3200.h"
#include "STSpin240_250.h"

STSpin240_250_init_t init =
 {
  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;

/*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()
{

    config_motor();

    //Set the scaling factor 
    color.SetMode(TCS3200::SCALE_100);


    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); 
        }
}