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Dependencies:   Farbsensor IRSensorLib PID_Control Servo mbed PixyLib

Farbauswertung.cpp@8:077d0bb213a2, 2017-05-18 (annotated)

Committer:
ZHAW_Prometheus
Date:
Thu May 18 09:12:46 2017 +0000
Revision:
8:077d0bb213a2
Parent:
6:d611637e7cad
Child:
9:b83994ef4b08
Version 18.05.2017 11:12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 0:422088ad7fc5 1 #include "mbed.h"
ZHAW_Prometheus 0:422088ad7fc5 2 #include "cstdlib"
ZHAW_Prometheus 0:422088ad7fc5 3 //#include <cmath>
ZHAW_Prometheus 0:422088ad7fc5 4 #include "Farbauswertung.h"
ZHAW_Prometheus 0:422088ad7fc5 5
ZHAW_Prometheus 0:422088ad7fc5 6
ZHAW_Prometheus 0:422088ad7fc5 7 Farbauswertung::Farbauswertung(AnalogIn* SensorG, AnalogIn* SensorR, Servo* servoAusw)
ZHAW_Prometheus 0:422088ad7fc5 8 {
ZHAW_Prometheus 0:422088ad7fc5 9 init(SensorG, SensorR, servoAusw);
ZHAW_Prometheus 0:422088ad7fc5 10 }
ZHAW_Prometheus 0:422088ad7fc5 11
ZHAW_Prometheus 0:422088ad7fc5 12
ZHAW_Prometheus 0:422088ad7fc5 13 Farbauswertung::Farbauswertung() {}
ZHAW_Prometheus 0:422088ad7fc5 14
ZHAW_Prometheus 0:422088ad7fc5 15 /**
ZHAW_Prometheus 0:422088ad7fc5 16 * Deletes the IRSensor object.
ZHAW_Prometheus 0:422088ad7fc5 17 */
ZHAW_Prometheus 0:422088ad7fc5 18 Farbauswertung::~Farbauswertung() {}
ZHAW_Prometheus 0:422088ad7fc5 19
ZHAW_Prometheus 0:422088ad7fc5 20
ZHAW_Prometheus 0:422088ad7fc5 21 void Farbauswertung::init(AnalogIn* SensorG, AnalogIn* SensorR, Servo* servoAusw)
ZHAW_Prometheus 0:422088ad7fc5 22 {
ZHAW_Prometheus 0:422088ad7fc5 23 this->SensorG = SensorG;
ZHAW_Prometheus 0:422088ad7fc5 24 this->SensorR = SensorR;
ZHAW_Prometheus 0:422088ad7fc5 25 this->servoAusw = servoAusw;
ZHAW_Prometheus 0:422088ad7fc5 26 farbsensor.init(SensorG, SensorR);
schuema4 3:017c85c4b14b 27 zustand = gruen;
schuema4 3:017c85c4b14b 28 merker_rot = 0;
schuema4 3:017c85c4b14b 29 merker_rot1 = 0;
schuema4 3:017c85c4b14b 30 merker_gruen =0;
ZHAW_Prometheus 1:5c44e2462a8b 31 ausschaltZeit = 0;
ZHAW_Prometheus 8:077d0bb213a2 32 einschlatZeit = 50;
ZHAW_Prometheus 0:422088ad7fc5 33 }
ZHAW_Prometheus 0:422088ad7fc5 34
ZHAW_Prometheus 0:422088ad7fc5 35 void Farbauswertung::setSerialOutput(Serial *pc)
ZHAW_Prometheus 0:422088ad7fc5 36 {
ZHAW_Prometheus 0:422088ad7fc5 37 this->pc = pc;
ZHAW_Prometheus 0:422088ad7fc5 38 }
ZHAW_Prometheus 0:422088ad7fc5 39
schuema4 3:017c85c4b14b 40 int Farbauswertung::getState()
schuema4 3:017c85c4b14b 41 {
ZHAW_Prometheus 0:422088ad7fc5 42 return zustand;
ZHAW_Prometheus 0:422088ad7fc5 43 }
ZHAW_Prometheus 0:422088ad7fc5 44
schuema4 3:017c85c4b14b 45 void Farbauswertung::auswertung()
schuema4 3:017c85c4b14b 46 {
ZHAW_Prometheus 8:077d0bb213a2 47 merker_gruen=0;
ZHAW_Prometheus 8:077d0bb213a2 48 if ((farbsensor.readg()>=68 && farbsensor.readg()<=70 && farbsensor.readr()>=70 && farbsensor.readr()<=71.6)|| (farbsensor.readg()>=77.2 && farbsensor.readg()<=77.39 && farbsensor.readr()>=75 && farbsensor.readr()<=77) || (farbsensor.readg()>=75 && farbsensor.readg()<=76 && farbsensor.readr()>=73 && farbsensor.readr()<=74)) {
schuema4 3:017c85c4b14b 49
ZHAW_Prometheus 8:077d0bb213a2 50 merker_gruen=1;
ZHAW_Prometheus 8:077d0bb213a2 51
ZHAW_Prometheus 8:077d0bb213a2 52
ZHAW_Prometheus 8:077d0bb213a2 53 if (zustand ==1 && ausschaltZeit ==0) { //Wenn wechsel Grün auf Rot Ausschaltzeit um X erhöhen
ZHAW_Prometheus 8:077d0bb213a2 54 ausschaltZeit+=180;
ZHAW_Prometheus 8:077d0bb213a2 55
ZHAW_Prometheus 8:077d0bb213a2 56 zustand =0;
ZHAW_Prometheus 1:5c44e2462a8b 57 }
ZHAW_Prometheus 8:077d0bb213a2 58 if(zustand ==1 && ausschaltZeit !=0) { //Wenn die einschaltzeit nicht gleich Null ist muss die zeit plus die Einschaltverzögerung verlängert werden
ZHAW_Prometheus 8:077d0bb213a2 59 ausschaltZeit+=(180);
ZHAW_Prometheus 8:077d0bb213a2 60
ZHAW_Prometheus 8:077d0bb213a2 61 zustand =0;
ZHAW_Prometheus 8:077d0bb213a2 62
ZHAW_Prometheus 8:077d0bb213a2 63 }
ZHAW_Prometheus 8:077d0bb213a2 64 zustand =0;
ZHAW_Prometheus 8:077d0bb213a2 65 wait(0.5);
ZHAW_Prometheus 8:077d0bb213a2 66
ZHAW_Prometheus 8:077d0bb213a2 67 }
ZHAW_Prometheus 8:077d0bb213a2 68 if(merker_gruen==0) {
ZHAW_Prometheus 8:077d0bb213a2 69
ZHAW_Prometheus 8:077d0bb213a2 70 zustand=1; //Grünes oder gar kein Lego
schuema4 3:017c85c4b14b 71 }
ZHAW_Prometheus 1:5c44e2462a8b 72
ZHAW_Prometheus 8:077d0bb213a2 73 if(zustand == 0 || (merker_rot >=1 && merker_rot < einschlatZeit)) { //Einschaltverzögerung
schuema4 3:017c85c4b14b 74 merker_rot ++;
schuema4 3:017c85c4b14b 75 }
schuema4 3:017c85c4b14b 76 if (merker_rot == einschlatZeit) { //wenn einschaltzeit abgelaufen => MerkerRot1 setzen + MerkerRot zurücksetzen
schuema4 3:017c85c4b14b 77 merker_rot1=1;
schuema4 3:017c85c4b14b 78 merker_rot=0;
schuema4 3:017c85c4b14b 79 }
schuema4 3:017c85c4b14b 80
schuema4 3:017c85c4b14b 81 if(merker_rot1>=1 && merker_rot1<ausschaltZeit) { // Ausschaltverzögerung + Auswurf schliessen
schuema4 3:017c85c4b14b 82 merker_rot1 ++;
schuema4 6:d611637e7cad 83
schuema4 3:017c85c4b14b 84 servoAusw->write(1.0f);
schuema4 3:017c85c4b14b 85 }
schuema4 3:017c85c4b14b 86 if (merker_rot1 == ausschaltZeit) { //wenn Ausschaltzeit abgelaufen => MerkerRot1 zurücksetzen + Auswurf öffnen
schuema4 3:017c85c4b14b 87 merker_rot1=0;
schuema4 3:017c85c4b14b 88 ausschaltZeit=0;
schuema4 3:017c85c4b14b 89 servoAusw->write(0.01f);
schuema4 3:017c85c4b14b 90 }
schuema4 3:017c85c4b14b 91
schuema4 6:d611637e7cad 92 static int timer = 0;
schuema4 6:d611637e7cad 93 ++timer;
schuema4 6:d611637e7cad 94
schuema4 6:d611637e7cad 95 if( timer % 100 == 0) {
schuema4 6:d611637e7cad 96 //Ausgaben an Konsole******************************************************
schuema4 6:d611637e7cad 97 if (pc) {
schuema4 6:d611637e7cad 98 pc->printf("\n\r");
ZHAW_Prometheus 8:077d0bb213a2 99 // pc->printf("Gruen:%f\n\r", farbsensor.readg());
ZHAW_Prometheus 8:077d0bb213a2 100 // pc->printf("Rot:%f\n\r", farbsensor.readr());
schuema4 6:d611637e7cad 101 pc->printf("Status:%d\n\r",zustand);
ZHAW_Prometheus 8:077d0bb213a2 102 pc->printf("Status Merker gruen:%d\n\r",merker_gruen);
schuema4 6:d611637e7cad 103 pc->printf("Status Merker rt:%d\n\r",merker_rot);
schuema4 6:d611637e7cad 104 pc->printf("Status Merker rot1:%d\n\r",merker_rot1);
schuema4 6:d611637e7cad 105 pc->printf("Ausschaltzeit:%d\n\r",ausschaltZeit);
schuema4 6:d611637e7cad 106 }
ZHAW_Prometheus 1:5c44e2462a8b 107 }
schuema4 3:017c85c4b14b 108
ZHAW_Prometheus 0:422088ad7fc5 109 }