Diff: main.cpp

Revision:

0:46d75bfc2492

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Apr 27 00:47:12 2019 +0000
@@ -0,0 +1,123 @@
+//Satre Gagnon, Ewing, Batten 
+//Drive Straight 
+
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+#include "TCS3472_I2C.h"
+ 
+// color sensor
+DigitalOut hallpwr(p22); //PWM out signal to power LED on the sensor
+DigitalIn hall(p21);
+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 lightmag(LED4);
+
+//speed
+float wL, wR;
+float x = 0.3, y = -0.3, dist, realdist;
+ 
+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
+    
+    wL = tLeft.getSpeed(); //speed of left wheel (rev/sec)
+    wR = tRight.getSpeed(); //speed of right wheel (rev/sec)
+    
+    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(x);
+        right.speed(y); //right negative to go forward
+        
+        hallpwr = 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;
+        }
+        if (hall == 1){
+            lightmag = 1;
+            printf("BOMB DETECTED");
+        }
+        else if (hall == 0){
+            lightmag = 0;
+        }
+        if (wL<wR) {
+            x = x+0.01;
+            y = y; }
+        else if (wR<wL) {
+            x = x-0.01;
+            y = y;}
+        else if (wR == wL) {
+            x = x;
+            y = y;
+        }
+        if (realdist <= 8) {
+            left.stop();
+            right.stop();
+            } 
+        if ((rgb_data[0] > 9000))
+        {
+            x = x;
+            y = 0;
+        }
+        if ((rgb_data[0] < 800))
+        {
+            x = x;
+            y = 0;
+        }
+          
+        
+        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