Diff: main.cpp

Revision:

0:97e8d0a2752d

Child:

1:99d1aa030525

diff -r 000000000000 -r 97e8d0a2752d main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 17 14:12:50 2019 +0000
@@ -0,0 +1,79 @@
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+#include "TCS3472_I2C.h"
+
+// color sensor
+PwmOut LB(p22); //PWM out signal to power LED on teh sensor
+TCS3472_I2C rgb_sensor(p9, p10); // Establish RGB sensor object
+Serial pc(USBTX,USBRX); //Establish serial connection
+int rgb_data[4]; //store sensor readings
+
+//lights for colors
+DigitalOut red(LED1);
+DigitalOut green(LED2);
+DigitalOut blue(LED3);
+//DigitalOut magnet(LED4);
+
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+
+//encoders
+Tach tLeft(p17,64);
+Tach tRight(p13,64);
+
+int main()
+{ 
+    rgb_sensor.enablePowerAndRGBC(); //Enable RGB sensor
+    rgb_sensor.setIntegrationTime(100); //Set integration time of sensor
+    
+    pc.baud(9600); //set baud rate
+    float PWMbrightness = 1.0; //float specifying brightness of LED (between 0.0 and 1.0)
+    
+    while(1) {
+        
+        left.speed(0.1);
+        right.speed(-0.105); //right negative to go forward
+        
+        LB = PWMbrightness; //set brightness of sensor LED
+        rgb_sensor.getAllColors(rgb_data);
+        
+        if ((rgb_data[0] > 10000))
+        {
+            blue = 0;
+            green = 0;
+            red = 0;
+        }
+        
+        else if ((rgb_data[1] > rgb_data[2]) && (rgb_data[1] > rgb_data[3]) )
+        {
+            red = 1;
+            green = 0;
+            blue = 0;
+        }
+        else if ((rgb_data[2] > rgb_data[1]) && (rgb_data[2] > rgb_data[3]) )
+        {
+            if(rgb_data[2] > 1100)
+            {
+            green = 1;
+            red = 0;
+            blue = 0;
+            }
+            else
+            {
+            green = 0;
+            red = 0;
+            blue = 0;  
+            }
+        }
+        else if ((rgb_data[3] > rgb_data[2]) && (rgb_data[3] > rgb_data[1]) )
+        {
+            blue = 1;
+            green = 0;
+            red = 0;
+        }
+        
+        pc.printf("unfiltered: %d, red: %d, green: %d, blue: %d \n", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
+     
+}  //while
+}  //main
\ No newline at end of file