Sp2019_EW202_3321_1 / Mbed 2 deprecated Final202

Colors

Dependencies:   mbed TCS3472_I2C Tach ContinuousServo

main.cpp@0:97e8d0a2752d, 2019-04-17 (annotated)

Committer:
ewingswim
Date:
Wed Apr 17 14:12:50 2019 +0000
Revision:
0:97e8d0a2752d
Child:
1:99d1aa030525
colors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ewingswim 0:97e8d0a2752d 1 #include "mbed.h"
ewingswim 0:97e8d0a2752d 2 #include "ContinuousServo.h"
ewingswim 0:97e8d0a2752d 3 #include "Tach.h"
ewingswim 0:97e8d0a2752d 4 #include "TCS3472_I2C.h"
ewingswim 0:97e8d0a2752d 5
ewingswim 0:97e8d0a2752d 6 // color sensor
ewingswim 0:97e8d0a2752d 7 PwmOut LB(p22); //PWM out signal to power LED on teh sensor
ewingswim 0:97e8d0a2752d 8 TCS3472_I2C rgb_sensor(p9, p10); // Establish RGB sensor object
ewingswim 0:97e8d0a2752d 9 Serial pc(USBTX,USBRX); //Establish serial connection
ewingswim 0:97e8d0a2752d 10 int rgb_data[4]; //store sensor readings
ewingswim 0:97e8d0a2752d 11
ewingswim 0:97e8d0a2752d 12 //lights for colors
ewingswim 0:97e8d0a2752d 13 DigitalOut red(LED1);
ewingswim 0:97e8d0a2752d 14 DigitalOut green(LED2);
ewingswim 0:97e8d0a2752d 15 DigitalOut blue(LED3);
ewingswim 0:97e8d0a2752d 16 //DigitalOut magnet(LED4);
ewingswim 0:97e8d0a2752d 17
ewingswim 0:97e8d0a2752d 18 ContinuousServo left(p23);
ewingswim 0:97e8d0a2752d 19 ContinuousServo right(p26);
ewingswim 0:97e8d0a2752d 20
ewingswim 0:97e8d0a2752d 21 //encoders
ewingswim 0:97e8d0a2752d 22 Tach tLeft(p17,64);
ewingswim 0:97e8d0a2752d 23 Tach tRight(p13,64);
ewingswim 0:97e8d0a2752d 24
ewingswim 0:97e8d0a2752d 25 int main()
ewingswim 0:97e8d0a2752d 26 {
ewingswim 0:97e8d0a2752d 27 rgb_sensor.enablePowerAndRGBC(); //Enable RGB sensor
ewingswim 0:97e8d0a2752d 28 rgb_sensor.setIntegrationTime(100); //Set integration time of sensor
ewingswim 0:97e8d0a2752d 29
ewingswim 0:97e8d0a2752d 30 pc.baud(9600); //set baud rate
ewingswim 0:97e8d0a2752d 31 float PWMbrightness = 1.0; //float specifying brightness of LED (between 0.0 and 1.0)
ewingswim 0:97e8d0a2752d 32
ewingswim 0:97e8d0a2752d 33 while(1) {
ewingswim 0:97e8d0a2752d 34
ewingswim 0:97e8d0a2752d 35 left.speed(0.1);
ewingswim 0:97e8d0a2752d 36 right.speed(-0.105); //right negative to go forward
ewingswim 0:97e8d0a2752d 37
ewingswim 0:97e8d0a2752d 38 LB = PWMbrightness; //set brightness of sensor LED
ewingswim 0:97e8d0a2752d 39 rgb_sensor.getAllColors(rgb_data);
ewingswim 0:97e8d0a2752d 40
ewingswim 0:97e8d0a2752d 41 if ((rgb_data[0] > 10000))
ewingswim 0:97e8d0a2752d 42 {
ewingswim 0:97e8d0a2752d 43 blue = 0;
ewingswim 0:97e8d0a2752d 44 green = 0;
ewingswim 0:97e8d0a2752d 45 red = 0;
ewingswim 0:97e8d0a2752d 46 }
ewingswim 0:97e8d0a2752d 47
ewingswim 0:97e8d0a2752d 48 else if ((rgb_data[1] > rgb_data[2]) && (rgb_data[1] > rgb_data[3]) )
ewingswim 0:97e8d0a2752d 49 {
ewingswim 0:97e8d0a2752d 50 red = 1;
ewingswim 0:97e8d0a2752d 51 green = 0;
ewingswim 0:97e8d0a2752d 52 blue = 0;
ewingswim 0:97e8d0a2752d 53 }
ewingswim 0:97e8d0a2752d 54 else if ((rgb_data[2] > rgb_data[1]) && (rgb_data[2] > rgb_data[3]) )
ewingswim 0:97e8d0a2752d 55 {
ewingswim 0:97e8d0a2752d 56 if(rgb_data[2] > 1100)
ewingswim 0:97e8d0a2752d 57 {
ewingswim 0:97e8d0a2752d 58 green = 1;
ewingswim 0:97e8d0a2752d 59 red = 0;
ewingswim 0:97e8d0a2752d 60 blue = 0;
ewingswim 0:97e8d0a2752d 61 }
ewingswim 0:97e8d0a2752d 62 else
ewingswim 0:97e8d0a2752d 63 {
ewingswim 0:97e8d0a2752d 64 green = 0;
ewingswim 0:97e8d0a2752d 65 red = 0;
ewingswim 0:97e8d0a2752d 66 blue = 0;
ewingswim 0:97e8d0a2752d 67 }
ewingswim 0:97e8d0a2752d 68 }
ewingswim 0:97e8d0a2752d 69 else if ((rgb_data[3] > rgb_data[2]) && (rgb_data[3] > rgb_data[1]) )
ewingswim 0:97e8d0a2752d 70 {
ewingswim 0:97e8d0a2752d 71 blue = 1;
ewingswim 0:97e8d0a2752d 72 green = 0;
ewingswim 0:97e8d0a2752d 73 red = 0;
ewingswim 0:97e8d0a2752d 74 }
ewingswim 0:97e8d0a2752d 75
ewingswim 0:97e8d0a2752d 76 pc.printf("unfiltered: %d, red: %d, green: %d, blue: %d \n", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
ewingswim 0:97e8d0a2752d 77
ewingswim 0:97e8d0a2752d 78 } //while
ewingswim 0:97e8d0a2752d 79 } //main