Prometheus / Mbed 2 deprecated Prom_Roebi

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   Farbsensor IRSensorLib PID_Control Servo mbed PixyLib

Farbauswertung.cpp@9:b83994ef4b08, 2017-05-19 (annotated)

Committer:
ZHAW_Prometheus
Date:
Fri May 19 12:30:42 2017 +0000
Revision:
9:b83994ef4b08
Parent:
8:077d0bb213a2
Child:
12:472b26872a42
Vers. 19.05.2017 14:30

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